JP2008056192A - Unstable moving body and method of controlling movement of the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve the ride comfort of a passenger by simply controlling optimal movement. <P>SOLUTION: The unstable moving body comprises a data memory for storing a group of personal data composed a plurality of personal data, a personal authentication section for individually authenticating a passenger, a measurement section for measuring at least one of the height and the weight of the passenger, and a movement control section for deciding movement control algorithm when moving, and moves in a state that the passenger is loaded. Among the group of personal data stored in the data memory, a personal data corresponding to a result of personal authentication by the personal authentication section is read out, and a control parameter for moving is specified based on the read personal data. The specified control parameter is corrected based on a result of the measurement by the measurement section, and the movement is controlled to decide the movement control algorithm based on the control parameter after the correction. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an unstable moving body that moves a passenger in a mounted state.

  In recent years, as a boarding type moving body that can be moved by a human being boarded and operated, such as a legged walking type moving body or an inverted pendulum type moving body that maintains an inverted state by driving a driving wheel, So-called unstable moving bodies are being developed. (For example, Patent Documents 1 and 2)

  Since such an unstable mobile body moves in a state where the occupant is placed, a leg portion and a drive for moving while maintaining the overall center of gravity position so as to maintain an inverted state. It moves using moving means such as a wheel. For example, in the case of a biped walking type legged walking type mobile body having legs on the left and right sides, the center of gravity of the moving body including the passenger is located inside the ground contact surface of the foot portion of the grounding leg that contacts the moving plane. It is known that a point where a moment does not act (ZMP = Zero Moment Point) needs to be located. Therefore, when performing the movement, the mounting unit that occupies a large weight in the entire moving body is swung so that the position of the ZMP of the moving body is within the grounding surface of the foot portion of the grounding leg. Adjust the center position.

  In addition, in the case of an unstable type moving body that is an inverted pendulum type moving body, the center of gravity of the vehicle body is located above the rotation axis of the wheel, and the vehicle body tilt angle (the center of gravity of the vehicle body from the reference position extending vertically from the axle position). Based on parameters such as the degree of inclination of the position) and the vehicle body inclination angular velocity, a wheel drive amount for driving the wheels so as to maintain the vehicle body in an inverted position is calculated. Then, by driving the wheel by the wheel driving amount by the driving means, it is possible to perform movement control so as to maintain the inverted state of the moving body.

  Such an unstable moving body needs to perform appropriate movement control according to the position of the center of gravity of the moving body. Therefore, it is preferable to perform appropriate control according to conditions such as the height and weight of the passenger.

JP 2006-150568 A JP 2004-295430 A

  By the way, when the unstable type moving body as described above moves, even if the same person always gets on the moving body, the height and weight of the passenger fluctuate as time passes. The position of the center of gravity of the moving body that is included may be different from the position of the center of gravity of the moving body alone. In addition, when the passenger boardes while holding the luggage, the center of gravity of the mobile body including the luggage and the passenger may be significantly different from the center of gravity of the mobile body alone. In this way, the optimal center-of-gravity position control that takes into account the passenger's conditions changes each time, so in order to perform optimal movement control with a comfortable ride, the passenger himself / herself uses the moving body according to the passenger's conditions. It is necessary to grasp and input the information every time.

  However, it is very time consuming for passengers to input such information every time they use the mobile object, and it is always easy to grasp the conditions of their own. It can be a big hindrance to use.

  The present invention has been made to solve such a problem, and can easily improve the ride comfort of a passenger by enabling optimal movement control, and It is an object of the present invention to provide a method for moving an unstable moving body.

  An unstable mobile unit according to the present invention measures at least one of a height or weight of a passenger, a data storage unit that stores a personal data group composed of a plurality of personal data, a personal authentication unit that personally authenticates the passenger, and A movement unit including a measurement unit and a movement control unit that determines a movement control algorithm when moving, the vehicle moving in a state of being on board, the movement control unit being stored in the data storage unit The personal data corresponding to the result of personal authentication by the personal authentication unit is read from the personal data group, the control parameter for moving is specified based on the read personal data, and the measurement result of the measurement unit is Based on this, the specified control parameter is modified, and a movement control algorithm is determined based on the modified control parameter.

  Such an unstable mobile unit selects a passenger to be used from already stored passenger data, provisionally determines control parameters suitable for the passenger, and presents the current height and weight of the passenger. And adjust the control parameters to the optimum ones. Accordingly, the movement control algorithm for moving the moving body satisfies the current conditions of the passenger when the passenger has boarded. As described above, since a movement control algorithm for optimally moving an unstable moving body can be easily obtained, it is necessary for a passenger to take time and effort to input conditions such as height and weight when using the moving body. Disappear. Therefore, it becomes possible to improve the ride comfort of the passenger by enabling the optimal movement control of the unstable moving body without taking time and effort.

  Such an unstable mobile body further includes an operation unit operated by the passenger, and indicates the moving direction and the moving direction depending on the degree of operation of the operating unit by the passenger. Alternatively, the moving body may recognize the external environment and move autonomously. In the former case, the movement control unit receives an instruction signal indicating a moving direction and a moving direction according to the degree of operation, and performs movement control according to the instruction based on the movement control algorithm. On the other hand, in the latter case, the direction and speed of movement can be obtained by using a laser range sensor, an image recognition unit such as an optical camera, or a distance measurement unit such as an ultrasonic / infrared sensor as a recognition unit that recognizes the external environment. Etc. are autonomously determined, and movement control is performed. Any of the above recognition units can be applied to the unstable moving body according to the present invention.

  In addition, as such an unstable moving body, a bipedal walking type legged moving body having two legs may be used, or a driving wheel having a circular cross section perpendicular to the rotation axis. It may be an inverted pendulum type moving body that drives and maintains the inverted state. Note that in the case of an inverted pendulum type moving body, a pair of left and right wheels, a sphere, a cylinder, or the like can be used as a drive wheel. The form of such a drive wheel can be arbitrarily selected according to the application of the moving body.

  Moreover, in such an unstable mobile body, the measurement unit may also measure the weight and shape of an object placed together with the passenger. For example, when the occupant is holding a load, the weight of the load can be measured together so that the total weight loaded on the moving body can be grasped, so that more optimal movement control can be performed. . Examples of such a measurement unit include a weight sensor provided in a seat on which the passenger is boarded, a storage space for storing luggage, an optical sensor for optically measuring the height of the passenger and the shape of the luggage, or the passenger. A contact sensor or the like that detects a location that comes into contact with when boarding is suitably used. In addition, when the unstable mobile body moves with the passenger sitting on the seat, it is difficult to measure from the head of the passenger to the toes when measuring the height of the passenger. Therefore, the height from the waist position of the passenger to the overhead may be measured, and the overall height of the passenger may be estimated from the measurement result. In this way, the height of the passenger may be estimated by measuring a part of the passenger's body instead of measuring the height of the passenger completely.

  In addition, the present invention also provides a movement control method for an unstable mobile body, a data storage unit that stores a personal data group composed of a plurality of personal data, a personal authentication unit that personally authenticates a passenger, An unstable mobile body that moves in a state where the passenger is on board, the measurement unit measuring at least one of the height or weight of the passenger, and the personal data group stored in the data storage unit. Read the personal data corresponding to the result of the personal authentication by the authentication unit, specify the control parameter for moving based on the read personal data, modify the specified control parameter based on the measurement result of the measurement unit, A movement control algorithm is determined based on the corrected control parameter, and movement control is performed based on the movement control algorithm.

  By such a movement control method of the unstable mobile body, the passenger to be used is selected from the already stored passenger data, the control parameters suitable for the passenger are provisionally determined, and the passenger's current Measure the conditions such as the height and weight, and adjust the control parameters to the optimum ones. For this reason, the movement control algorithm for moving the moving body easily satisfies the current conditions of the passenger when the passenger has boarded. As described above, since a movement control algorithm for optimally moving an unstable moving body can be easily obtained, it is necessary for a passenger to take time and effort to input conditions such as height and weight when using the moving body. Disappear. Therefore, it becomes possible to improve the ride comfort of the passenger by enabling the optimal movement control of the unstable moving body without taking time and effort.

  As described above, according to the present invention, it is possible to easily perform optimum movement control and improve the ride comfort of the passenger in the unstable moving body.

Embodiment 1 of the Invention
The details of a bipedal legged robot that is an unstable moving body (hereinafter simply referred to as a moving body) according to the first embodiment of the present invention will be described below with reference to FIGS. 1 to 6. .

  FIG. 1 is a schematic view schematically illustrating a state in which the mobile body 1 is viewed from the side (rightward when facing the direction in which the mobile body moves), and a passenger P is on the mobile body 1. Represents. FIG. 2 shows a state in which the moving body 1 shown in FIG. 1 is viewed from the back. In FIG. 1, for convenience of explanation, the direction in which the moving body 1 travels (front-rear direction) is the x-axis, and the direction in which the moving body 1 travels is perpendicular to the horizontal direction (left-right direction), the moving body 1 The direction (vertical direction) extending in the vertical direction from the plane on which the lens moves is defined as the z-axis, and will be described using a coordinate system composed of these three axes. That is, in FIG. 1, the x-axis indicates the left-right direction toward the paper surface, the y-axis indicates the depth method of the paper surface, and the z-axis indicates the vertical direction in the paper surface.

  As shown in FIG. 1 and FIG. 2, the moving body 1 is fixed so as to be freely rotatable with respect to the placement portion 11 on which the passenger P is boarded, the waist portion 12 coupled to the placement portion 11, and the waist portion 12. The leg 20 is a biped walking type robot, and its movement is controlled by the operation of the passenger P. Details will be described below.

  The leg 20 for bipedal walking is composed of a right leg 21 and a left leg 22. Specifically, as shown in FIG. 2, the right leg 21 includes a right hip joint 21a, an upper right thigh 21b, a right knee joint 21c, a right lower leg 21d, a right ankle joint 21e, and a right foot 21f. Similarly, the left leg 22 A left hip joint 22a, a left upper thigh 22b, a left knee joint 22c, a left lower thigh 22d, a left ankle joint 22e, and a left foot 22f are provided.

  The right leg 21 and the left leg 22 are each driven to a desired angle by transmitting a driving force from a motor (not shown) through a pulley and a belt (not shown). A desired movement can be made to a leg part.

  In the present embodiment, the leg 20 (the right leg 21 and the left leg 22) is in a state in which the upper leg and the lower leg are opened toward the front side (upper side) when the lower leg is lifted forward around the knee joint. It is configured to take a so-called “bird's foot state” in a state where the lower leg is rotated around the knee joint in front of the extension line of the thigh. By configuring the leg portion 20 in this way, even if the rider bends the knee joint of the leg portion to get on and off the placement portion, the upper thigh and the lower leg are located behind the placement portion, and thus the bend portion is bent. There is no contact with the mounting part where the leg part descends. Therefore, the mounting portion can be sufficiently lowered to a position where the passenger can easily get on and off. However, the present invention is not limited to this, and the upper leg and lower leg are open toward the rear side like a human leg (the lower leg is below the extension line of the upper leg and the lower leg is the knee). It may be possible to take a state of rotating around the joint.

  The mounting portion 11 includes an armrest portion 14 having a seat 111 for the passenger P to sit on, a backrest portion 112 for supporting the back of the passenger P, and an operation portion 113 operated by the passenger P ( A right armrest part 141, a left armrest part 142) and a personal authentication part 115 for personally identifying the passenger P.

  The seat 111 is composed of a plate-like member for placing the vicinity of the waist of the passenger P, and a weight measuring unit that is a part of a measuring unit for measuring the weight of the passenger P inside the seat 111 111a. The weight measuring unit 111a is a weight sensor composed of a known load sensor or the like, and measures the weight exerted on the seat 111 by the weight of the passenger P when the passenger P is seated on the seat 111. Output the result.

  The back pad portion 112 is formed substantially perpendicular to the seat 111, and the inside of the back pad portion 112 is irradiated with infrared light or the like from a plurality of positions of the back pad portion toward the front surface in substantially the entire height direction, A height measuring unit 112a, which is an optical sensor that detects the reflected light and is also a part of the measuring unit, is provided. The height measuring unit 112a detects the reflected light of the irradiated light as described above, and detects the position of the passenger P with respect to the backrest unit 112. That is, the height of the upper part of the passenger P is detected, the height corresponding to the upper part of the passenger P is measured from the detected height, and the measurement result of the passenger P is measured. Estimate the overall height and output the estimated value.

  The operation unit 113 is composed of an operation element that can be inclined in an arbitrary direction such as a joystick, for example, and drives the leg part 20 according to the inclination angle and the inclination speed of the operation element that is inclined by the operation of the passenger P. The amount and drive pattern can be changed to control the moving direction and speed of the moving body 1. Further, although not shown, the mounting portion 11 includes a frame formed in a shape along the lower surface of the seat 111 and the rear surface of the backrest portion 112, and the structural rigidity thereof is enhanced.

  In this embodiment, the personal authentication unit 115 uses a fingerprint sensor that can identify the passenger P. The personal authentication unit 115 may be a known sensor such as a vein sensor or a personal authentication unit using an image recognition technique using a camera or the like instead of such a fingerprint sensor. In addition, when the passenger P first boardes the moving body 1, the personal authentication unit 115 stores the personal information in a data storage unit described later.

  In addition, a plate-like support part 121 is formed at a rear portion of the backrest part 112 of the placement part 11, and a box-shaped accommodation part 120 is attached on the support part 121. The accommodating unit 120 accommodates a movement control unit 130 that controls the operation of the moving body 1, a battery (not shown) for supplying power to a leg motor and the like.

  As shown in FIG. 3, the movement control unit 130 drives the leg unit 20 to move the mobile body 1 and gait data for moving the moving body 1 and personal data (personal data group) of a plurality of passengers associated with fingerprint data. ) And a data storage unit 131 for storing a predetermined program for determining a movement control algorithm, gait data necessary for performing a walking motion, and the like, an arithmetic processing unit 132, and a leg unit 20 A motor driving unit 133 for driving the motor. Each of these components operates by being supplied with electric power from a battery (not shown) provided inside the accommodating portion 120.

  Note that the gait data stored in the data storage unit 131 is associated with the amount of movement of the leg 20 specified by the signal sent from the operation unit 113, and the foot of the leg 20 (right foot 21f, left foot 22f) in the coordinate system (for example, xyz coordinate system) that defines the space in which the moving body 1 moves, with the position of the tip (toe) of the moving body 1 and the position of the moving body main body (mounting portion 11 in the present embodiment). Instruct over time.

  The arithmetic processing unit 132 receives the results measured by the weight measuring unit 111a and the height measuring unit 112a, determines a movement control algorithm, and changes gait data based on a signal from the operation unit 113 to the data storage unit 131. The joint angle of the leg 20 necessary for realizing the posture of the moving body 1 specified by the read gait data is calculated. And the motor drive part 133 transmits each signal for driving a leg part based on the signal transmitted from the arithmetic processing part 132 by transmitting the signal based on the joint angle calculated in this way to the motor drive part 133. The motor drive amount is specified, and a motor drive signal for driving the motor with these drive amounts is transmitted to each motor. Thereby, the drive amount in each joint of the leg 20 is changed, the movement of the moving body 1 is controlled, and the leg 20 performs a predetermined walking motion. Details of the procedure for determining the above-described movement control algorithm will be described later.

  The arithmetic processing unit 132 instructs the motor to be driven based on the read gait data, and receives a signal from a sensor (not shown) such as a gyroscope or an accelerometer built in the moving body 1. Adjust the motor drive amount. In this way, the movable body 1 can be maintained in a stable state by adjusting the joint angle of the leg 20 according to the external force acting on the movable body 1 detected by the sensor, the posture of the movable body 1, and the like. it can.

  The weight of the control unit 130, the battery, or the mounting unit 11 is known, and the movement control algorithm is determined in consideration of the weight in addition to the measurement result obtained by measuring the weight of the passenger. The

  Next, a procedure for determining a movement control algorithm for performing a walking operation when the moving body 1 configured as described above moves by walking will be described using the flowchart shown in FIG.

  First, in a state where the moving body 1 is stopped and the knee joint portion of the leg portion 20 is bent, the passenger P gets into the placement portion 11 and gets on (step 101). When the passenger P gets on the mounting unit 11, the personal authentication unit 115 detects the fingerprint of the passenger P and collates the detected fingerprint data from the fingerprint data group stored in the recording area 131. It is then determined whether there is fingerprint data that matches the detected fingerprint data (step 102). At this time, if matching fingerprint data exists in the fingerprint data group, the occupant P is identified from the fingerprint data, and personal data including information on the height and weight of the identified occupant P is read (step 103). . Then, after reading out these personal data, the height and weight of the passenger P boarded are measured using the weight measuring unit 111a and the height measuring unit 112a, which are measuring units, and the measurement results are sent to the arithmetic processing unit 132. Transmit (step 104).

  Next, the arithmetic processing part 132 which acquired the personal data of the passenger P who boarded the mobile body 1 creates a control parameter for performing a walking motion based on these personal data. This control parameter is obtained by provisionally determining the position of the center of gravity of the moving body 1 based on the personal data. And the control parameter specified in this way is corrected using the height and weight of the passenger P obtained by the above-mentioned weight measurement part 111a and height measurement part 112a (step 105). And the movement control algorithm of the moving body 1 is determined using this modified control parameter (step 106). The arithmetic processing unit 132 receives a signal indicating the tilt angle or tilt speed of the tilted operator of the operation unit 113 operated by the passenger P (step 107), and based on the identified movement control algorithm, the passenger Drive that determines the drive amount and drive pattern of the leg portion 20 according to the tilt angle and the tilt speed of the tilted operator of the operation portion 13 operated by P, and specifies the drive amount of each motor for driving the leg portion A signal is transmitted (step 108). Each motor provided in the leg 20 is driven based on this drive signal. As a result, the walking procedure of the moving body 1, that is, the moving speed of the moving body 1 and the arrangement of the foot position on the plane at the time of movement. The mobile body 1 can perform a walking motion. Then, it is determined whether or not the driving of the leg 20 is continued (whether or not the moving body 1 is stopped) (step 109). In order to stop the moving body 1 if it does not continue, a predetermined safe operation such as gradually lowering the moving speed or gradually lowering the position of the center of gravity is performed (step). 110), the movement of the moving body 1 is stopped (step 111). If it is determined in step 109 that the moving body 1 is not to be stopped, the process returns to step 107 and the movement is continued according to the operation of the passenger.

  On the contrary, if there is no matching fingerprint data in step 102, it is determined that the passenger P has boarded the mobile body 1 for the first time, and the weight measuring unit 111a, which is a measuring unit, The height and weight of the occupant are measured using the height measuring unit 112a, and the measurement result is transmitted to the arithmetic processing unit 132 (step 201). The arithmetic processing unit 132 associates the measurement results measured by the weight measuring unit 111a and the height measuring unit 112a with the fingerprint data detected by the personal authentication unit 115 and stores them in the data storage unit 131 (step 202).

  Then, based on the measurement result obtained in step 201, the arithmetic processing unit 132 specifies a control parameter (step 105), and determines a movement control algorithm based on the determined control parameter (step 106). Based on this movement control algorithm, a signal indicating the tilt angle or tilt speed of the tilted operator of the operation unit 113 operated by the passenger P is received, and the walking motion is performed in the procedure from step 107 onward.

  In the present embodiment, the height and weight of a passenger boarding the moving body 1 are measured, and control parameters specified by predetermined personal data of the passenger are modified from the measurement results. Therefore, even if personal data created in the past has been changed, or even if the passenger holds luggage, etc., the control parameters will be modified to the most suitable condition, and the modified control parameters The movement control algorithm is determined based on the movement control algorithm for optimally moving the moving object without the hassle of inputting conditions such as height and weight when the passenger uses the moving object. Can be easily obtained.

  In the above description, an example using information on the height and weight of the passenger as personal data has been shown. However, as personal data, other information such as the age and sex of the passenger and the number of appearances in the past are also included. May be included. And if a control parameter is specified based on these information, more suitable movement control can be performed.

  Moreover, in this embodiment, although the height measurement part which measures a passenger's height and the weight measurement part which measures a passenger's weight are provided as a measurement part, this invention is not limited to this. That is, by providing at least one of these measurement units, the control parameter may be specified by at least one of the height or weight of the passenger. In particular, the height of the occupant may be configured without being incorporated into the moving body as necessary, since an adult human hardly changes with age. In addition, in this embodiment, the weight measuring unit (sensor) incorporated in the seat is disclosed as the weight measuring unit. However, instead of this, for example, the weight measuring unit is incorporated in the leg of the moving body. May be.

  Furthermore, in the above-mentioned embodiment, although the example which measures a passenger's weight and height is shown, in addition to this, the weight of the load accommodated in the accommodating part 120 is further measured, and the weight is measured. May be taken into account when performing movement control. By doing so, more optimal movement control can be performed by correcting the control parameters in consideration of the influence of the weight of the passenger and the luggage of the passenger on the position of the center of gravity of the moving body. . Further, the control parameter may be corrected by measuring the shape of the load together with the weight of the load stored in the storage unit 120, and estimating the position of the center of gravity of the moving body from the measured value.

Embodiment 2 of the Invention
Next, an inverted pendulum type two-wheeled moving body (hereinafter referred to as a moving body 1 ′) according to a second embodiment of the present invention will be described with reference to FIGS. FIG. 5 shows a state in which an inverted pendulum type moving body 1 ′ that can be travel-controlled by the operation of the passenger in a state where the passenger is mounted on the mounting table is viewed from the side. FIG. The state which looked at the moving body 1 'shown from the back is shown.

  As shown in FIGS. 5 and 6, the moving body 1 ′ includes a mounting table 31 on which the passenger is mounted, a housing 32 formed integrally with the mounting table 31, and a fixing portion 33 a fixed to the housing 32. The interposition link 33 including a rod member 33c rotatably attached to the fixed portion 33a via a rotation shaft 33b, and a drive wheel supported rotatably with respect to the rod member 33c of the interposition link 33 34.

  The mounting table 31 includes an armrest 314 (right armrest portion) to which a seat 311 for a passenger to sit, a backrest portion 312 for supporting the back of the passenger, and an operation portion 313 operated by the passenger are fixed. 314a, left armrest 314b), a personal authentication unit 315 for personal authentication of the passenger P, a footrest 316, and a laser range sensor 317 as a recognition unit for recognizing the external environment. Yes.

  The seat 311 is composed of a plate-like member for placing the vicinity of the occupant's waist, and includes a weight measuring unit 311a for measuring the weight of the occupant seated therein. The weight measuring unit 311a is a weight sensor composed of a load sensor or the like, as in the above-described embodiment. When the passenger sits on the seat 311, the weight of the passenger is measured, and the measurement result is obtained. Output.

  The backrest part 312 is formed substantially perpendicular to the seat 311, and a height measurement part 312 a including an optical sensor having the same configuration as that of the above-described embodiment is provided therein. The height measuring unit 312a detects the reflected light of the irradiated light as described above, and detects the position of the passenger with respect to the backrest unit 312. That is, the height of the passenger's upper body is detected to which height of the back pad 312 is detected, the height corresponding to the upper body of the passenger is measured from the detected height, and the passenger's overall carefulness is determined from the measurement result. And output the estimated value.

  The operation unit 313 is composed of an operation element that can be inclined in an arbitrary direction, such as a joystick, as in the above-described embodiment, and according to the inclination angle and the inclination speed of the operation element inclined by the operation of the passenger, A signal for instructing the driving amount and the driving speed of the driving wheel 34 can be output.

  The armrest portion 314 (the right armrest portion 314a and the left armrest portion 314b) is composed of a frame extending forward from the backrest portion 312. The arm portion ahead of the passenger's elbow can be placed on the front, An operation unit 313 is provided at the end. Furthermore, a personal authentication unit 315 for performing personal authentication of the passenger is fixed to the upper part of the frame near the operation unit 313. In this embodiment, the personal authentication unit 315 uses a vein sensor that identifies an individual by the flow of veins that can be read from the palm surface of the passenger or the abdomen surface of the finger.

  The housing 32 is oriented in the vertical direction, including a control computer 320 as a movement control unit for performing drive control of the drive wheels 34, a battery (not shown) for power supply, and an axle of the drive wheels described later. A gyro sensor (not shown) that measures how much the position of the center of gravity of the moving body 1 ′ is inclined from the reference surface is provided.

  As shown in FIG. 7, the control computer 320 drives a drive wheel 34 to determine a predetermined program for determining a movement control algorithm of the moving body 1 ′, personal data of the passenger, and a moving path of the moving body 1 ′. In order to drive a data storage unit 321 that stores in advance a movement map or the like to be determined, to read out data stored in the data storage unit 321, to execute a predetermined program, and to drive wheels 34 And a motor driving unit 323 for transmitting the driving signal. The motor drive unit 323 transmits a signal for independently driving a right drive wheel 34a and a left drive wheel 34b of a drive wheel 34 to be described later. Thus, the control computer 320 including the data storage unit 321 also functions as a data storage unit that stores a personal data group.

  The intervening link 33 extends in the left-right direction of the housing 32, and is fixed to a fixed portion 33a fixed to the bottom surface of the housing 32, and a rod member 33c rotatably connected to the fixed portion 33a via a rotation shaft 33b. And a motor (not shown) for rotating the fixing portion 33a with respect to the rod member 33c. By this motor, the degree of rotation with respect to the rod member 33c is determined so that the housing 32, that is, the mounting table 31 is horizontal with respect to the road surface.

  The drive wheel 34 includes a right drive wheel 34 a and a left drive wheel 34 b that are driven independently, axles 340 a and 340 b that support both drive wheels, and a box 341 that covers the axle 340. Inside the box 341 are provided drive motors 341a and 341b for independently driving the right drive wheel 34a and the left drive wheel 34b, respectively, and the rotation thereof based on the signal from the motor drive unit 323 described above. Direction, rotation speed, etc. are controlled.

  The footrest 316 includes a frame 316a that extends slightly obliquely downward from the vicinity of the front end of the seat 311 and a plate-like member 316b provided at the tip of the frame 316a. When the occupant sits on the seat 311, the plate-like member 316 b can take a stable posture with respect to the moving body 1 ′ by placing the sole of the foot.

  The laser range sensor 317 as a recognition unit irradiates the infrared laser by swinging in the horizontal direction and the vertical direction, and detects the reflected laser light amount to measure the environment in front of the moving body 1 ′ in a three-dimensional manner. The data obtained from the measurement result is transmitted to the control computer 320. Then, the environment data around the measured moving body 1 ′ is added or modified to map data such as a movement map stored in advance in the data storage unit 321 of the control computer 320, and the movement for moving the moving body 1 ′. Used to autonomously determine or modify a plan.

  The control computer provided in the housing 32 keeps the moving body 1 ′ in an inverted state and drives the drive wheels 34 so as to travel and move according to the operation of the passenger. In detail, as shown in FIG. 8, the moving body 1 ′ moves from a reference plane parallel to the vertical direction including the axles of the drive wheels 34 (the right drive wheel 34 a and the left drive wheel 34 b) that contact the road surface R. The drive wheel 34 is driven so that the inclination angle θ at which the center of gravity (G) of the body 1 ′ is inclined becomes the target angle (for example, zero degrees). The inclination angle is detected in time series by a gyro sensor provided in the housing 32, and the detected value is input to a control computer, whereby drive control of the drive wheels 34 is performed.

  The details of the drive control of the drive wheels 34 performed by the control computer 320 are changed according to the age of the passenger, the number of times of boarding, the reflexes, and the like. That is, in the personal data stored in the data storage unit 321 in the control computer 320, personal data of a plurality of passengers as described above is stored, and the passenger is authenticated by the personal authentication unit 315. Based on the authentication result, the basic control parameters for performing the drive control by reading the personal data are specified. Then, the specified control parameter is modified with a measurement result based on the weight of the passenger measured by the weight measurement unit 311a, and a final movement control algorithm is determined.

  In addition, when the boarding passenger cannot be authenticated by the personal authentication unit 315, the data such as the measured weight of the passenger is stored in the data storage unit 321 together with the passenger as a new passenger.

  The moving body 1 ′ configured as described above can be optimized in consideration of the change in the center of gravity position of the moving body 1 ′ that changes depending on the weight of the passenger, as in the above-described embodiment. In addition, since such moving body 1 'autonomously performs the movement control which moves based on a predetermined movement route plan, operation of a passenger is fundamentally unnecessary, and a passenger moves Less involved in body control. Therefore, the passenger may not be able to control the movement of the moving body, and may feel anxiety that he / she cannot adjust himself / herself with respect to the moving speed and the inversion control. Thus, it is possible to provide an appropriate speed of movement and speed of inversion control for each passenger.

  In the case of such a moving body, the recognition unit for recognizing the external environment is not only provided with a laser range sensor but also provided with a distance measuring means such as an optical camera such as a CCD or an ultrasonic / infrared sensor, or outside. Or a base station. That is, any means that additionally provides a control signal that determines or corrects a route along which the moving body moves can be widely applied to such a moving body.

  In addition, in the moving body described as the second embodiment, the placement unit is used to board only the occupant. In addition to this, an accommodation unit that accommodates luggage and the like is provided in the placement unit. Also good. Then, the weight and shape of the stored luggage may be measured, and the control parameter may be corrected in consideration of the measured value.

It is the side view which represented the whole outline of the unstable type moving object concerning a 1st embodiment by side view. It is the rear view showing a mode that the unstable type mobile body shown in FIG. 1 was seen from the back surface. FIG. 2 is a block diagram conceptually showing the inside of a control unit provided in the unstable moving body shown in FIG. 1. It is a flowchart which shows the control procedure for specifying the movement control algorithm for the unstable mobile body shown in FIG. 1 to move, and moving. It is the side view which represented the whole outline of the unstable type | mold moving body which concerns on 2nd Embodiment by the side view. It is the rear view showing a mode that the unstable type mobile body shown in FIG. 5 was seen from the back surface. FIG. 6 is a block diagram conceptually showing the inside of a control unit provided in the unstable moving body shown in FIG. 5. It is a conceptual diagram for demonstrating the inclination | tilt angle in an unstable type mobile body.

Explanation of symbols

1, 1 '... Unstable moving body (moving body)
11, 31 ... Placement part 111a, 311a ... Weight measurement part (measurement part)
112a, 312a ... Height measuring unit (measuring unit)
115, 315... Personal authentication unit 120... Accommodation unit (swinging unit)
130, 320 ... Movement control unit (control computer)
131, 321... Data storage unit 317... Recognition unit (laser range sensor)
20 ... Leg 34 ... Drive wheel (wheel)
P ... Passenger

Claims (11)

A data storage unit for storing a personal data group composed of a plurality of personal data;
A personal authentication unit for personal authentication of the passenger;
A measurement unit that measures at least one of the height or weight of the passenger;
An unstable moving body that moves in a state in which a passenger is on board, comprising a movement control unit that determines a movement control algorithm when moving;
The movement control unit is
The personal data corresponding to the result of personal authentication by the personal authentication unit is read out from the personal data group stored in the data storage unit, and control parameters for moving are specified based on the read personal data. ,
An unstable moving body characterized in that a specified control parameter is modified based on a measurement result of the measurement unit, and a movement control algorithm is determined based on the modified control parameter. An operation unit operated by a passenger, and the operation unit transmits an instruction signal instructing a moving direction, a moving speed, and the like based on an operation degree operated by the passenger;
The unstable movement body according to claim 1, wherein the movement control unit performs movement control according to the transmitted instruction signal based on the determined movement control algorithm. A recognition unit for recognizing an external environment, and the recognition unit transmits an instruction signal instructing a moving direction and a moving speed according to the recognized external environment;
The unstable movement body according to claim 1, wherein the movement control unit performs autonomous movement control in accordance with a transmitted instruction signal based on the determined movement control algorithm.   The unstable moving body according to claim 3, wherein the recognition unit is a laser range sensor that recognizes an external environment by reflection of an irradiated laser.   The unstable moving body according to claim 3, wherein the recognition unit is an optical camera that visually recognizes an external environment.   The unstable moving body according to any one of claims 1 to 5, comprising two legs as moving means, and moving by bipedal walking motion.   The moving means includes a driving wheel that is a rotating body having a circular cross section perpendicular to the rotating shaft, and a driving unit that drives the driving wheel, and the inverted unit that maintains the inverted state by driving the rotating body by the driving unit. 6. The unstable moving body according to claim 1, wherein pendulum type inversion control is performed.   The unstable moving body according to claim 7, wherein the rotating body is a pair of left and right wheels.   The unstable moving body according to claim 7, wherein the rotating body is a sphere.   The unstable moving body according to any one of claims 1 to 9, wherein the measurement unit can also measure the weight of an object placed together with a passenger. A data storage unit for storing a personal data group composed of a plurality of personal data;
A personal authentication unit for personal authentication of the passenger;
A movement control method for an unstable mobile body that moves in a state where the passenger is on board, comprising a measurement unit that measures at least one of the height or weight of the passenger,
Read out personal data corresponding to the result of personal authentication by the personal authentication unit from the personal data group stored in the data storage unit,
Identify control parameters to move based on the read personal data,
Based on the measurement result of the measurement unit, modify the specified control parameter,
Determine the movement control algorithm based on the modified control parameters,
A movement control method for an unstable movable body, wherein movement control is performed based on the movement control algorithm.