JP2010068679A - Moving body and control method thereof - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a moving body having high operability and a control method thereof. <P>SOLUTION: According to one embodiment, this moving body 1 includes: an occupant seat 8 where an occupant gets aboard; a chassis 13 for supporting the occupant seat 8; wheels 6 for moving the chassis 13; a force sensor 9 for outputting a measured signal corresponding to a force applied to the seat surface of the occupant seat 8; a driving section 5 for driving the occupant seat 8 so as to change the angle of the seat surface 8a of the occupant seat 8; and a control calculating section 51 for calculating a command value for driving the wheels 6 and the driving section 5 based on the driving amount of the driving section 5, the equilibrium position posture of the occupant seat 8 and the measured signal from the force sensor 9. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a moving body and a control method thereof.

  In recent years, a moving body that moves in a state where a passenger is on board has been developed (Patent Documents 1 and 2). For example, in Patent Documents 1 to 3, a force sensor (pressure sensor) is provided on a boarding surface (seat surface) on which a passenger rides. The wheels are driven by the output from the force sensor. That is, input is performed by using the force sensor as an operation means.

  The moving body of Patent Document 1 moves by applying weight in the direction in which it wants to proceed. For example, when going forward, the passenger tilts his upper body forward. That is, the passenger is in a forward leaning posture. And if it becomes a leaning posture, the force added to a boarding seat will change. Then, this force is detected by a force sensor. The spherical tire is driven by the detection result of the force sensor. In FIG. 14 of Patent Document 1, the inverted pendulum control is performed in a state where the passenger sits on the boarding seat. Patent Document 2 discloses a wheelchair-type moving body. This moving body is provided with a chair and a footrest.

  Further, Patent Document 3 discloses a moving body that actively detects a user's operation and operates autonomously in response thereto. For example, the center of gravity of the user is calculated by a plurality of pressure sensors. A wheelchair-shaped moving body operates according to the position of the center of gravity (FIG. 2).

  Further, Patent Document 4 discloses an interface device for operating a biped walking type moving body. This interface device has a chair shape. A plurality of force sensors are provided on the back surface and the seat surface of the chair. Four force sensors detect the pelvic turning of the passenger and estimate the intention to walk. And both legs are driven according to the will to walk estimated by the force sensor. The interface device is provided with a footrest.

JP 2006-282160 A Japanese Patent Laid-Open No. 10-23613 JP-A-11-198075 JP-A-7-136957

  In patent documents 1-3, it is moving according to the posture of the passenger actually boarding the moving body. Thereby, operation according to the environment which is actually moving is attained. For example, the passenger can perform an operation as follows. When he wants to move forward, the passenger moves his upper body forward. That is, the passenger is in a forward leaning posture. Then, the position of the center of gravity becomes forward, and the force applied to the force sensor changes. Thereby, the sensor detects the forward input. On the other hand, when the user wants to move backward, the occupant is tilted backward. Then, the position of the center of gravity becomes backward, and a backward tilt input is detected. When moving left and right, the passenger moves the center of gravity in the left-right direction. Thereby, the turning input is detected. Thus, it can move according to the turning input, the forward input, and the backward input.

  However, a moving body in which a force sensor is provided on a boarding surface on which a passenger is boarded has the following problems. For example, it is assumed that the vehicle is traveling forward diagonally to the right. At this time, if the mechanical structure of the moving body is fixed, the passenger receives a centrifugal force. Then, the state will be diverted to the right and the speed will be accelerated. Or, there is a problem that the upper body is deviated to the outside, and it is not possible to proceed forward diagonally as expected. That is, since the input to the force sensor is not transmitted to the passenger, it is difficult to intuitively understand how much the operation has been performed. In particular, when a centrifugal force is applied, it becomes difficult to operate in the direction in which the passenger wants to move.

  Thus, the conventional mobile body has a problem that it cannot be operated as intended by the passenger.

  An object of this invention is to provide the moving body which has high operativity, and its control method.

  A moving body according to a first aspect of the present invention is added to a boarding seat on which a passenger gets on, a main body that supports the boarding seat, a moving mechanism that moves the main body, and a seating surface of the boarding seat. A sensor that outputs a measurement signal according to force, a passenger seat drive mechanism that drives the passenger seat so as to change an angle of the seat surface of the passenger seat, a drive amount of the passenger seat drive mechanism, And a control calculation unit that calculates a command value for driving the moving mechanism and the passenger seat drive mechanism based on an equilibrium position and posture and a measurement signal from the sensor. Thereby, since a passenger | crew can grasp | ascertain the operation amount easily, operativity can be improved.

  A mobile body according to a second aspect of the present invention is the mobile body described above, further comprising a posture detection unit that outputs a signal corresponding to a posture angle of the mobile body, wherein the equilibrium position posture of the passenger seat is a posture. It changes according to the output of a detection part, It is characterized by the above-mentioned. Thereby, it can move with an appropriate operation amount.

  A mobile body according to a third aspect of the present invention is the mobile body described above, wherein the equilibrium position and posture of the boarding seat changes so that a boarding surface of the boarding seat is horizontal. It is. Thereby, riding comfort can be improved.

  A mobile body according to a fourth aspect of the present invention is the mobile body described above, wherein an equilibrium position / posture of the passenger seat is constant regardless of a movement state of the mobile body. is there. Thereby, operativity can be improved simply.

  A mobile body according to a fifth aspect of the present invention is the mobile body described above, wherein the boarding seat is based on a driving amount of the boarding seat drive mechanism, an equilibrium position and orientation of the boarding seat, and a measurement signal from the sensor. A target drive amount of the seat drive mechanism is calculated, and a forward / reverse movement speed of the moving body is calculated based on the target drive amount of the passenger seat drive mechanism. Thereby, it can move at an appropriate speed.

  A mobile body control method according to a sixth aspect of the present invention includes a boarding seat on which a passenger gets on, a main body portion that supports the boarding seat, a moving mechanism that moves the main body portion, and a seat on the boarding seat. And a boarding seat drive mechanism that drives the passenger seat so as to change the angle of the seating surface of the passenger seat. Based on the step of inputting the equilibrium position and orientation of the passenger seat, the measurement signal from the sensor, the equilibrium position and orientation, and the driving amount of the passenger seat drive mechanism, the moving mechanism and the passenger seat Calculating a command value for driving the drive mechanism.

  A control method according to a seventh aspect of the present invention is the control method described above, wherein a signal corresponding to a posture angle of the mobile body is output by the posture detection unit provided in the mobile body, and the boarding seat The equilibrium position / posture of the head changes in accordance with the output of the posture detector.

  A control method according to an eighth aspect of the present invention is the control method described above, wherein the equilibrium position / posture of the passenger seat changes so that the passenger plane of the passenger seat becomes horizontal. It is.

  A control method according to a ninth aspect of the present invention is the control method described above, wherein the equilibrium position / posture of the passenger seat is constant regardless of the movement state of the mobile body. is there. Thereby, operativity can be improved simply.

  A control method according to a tenth aspect of the present invention is the control method described above, wherein the boarding seat is based on a driving amount of the passenger seat drive mechanism, an equilibrium position and orientation of the passenger seat, and a measurement signal from the sensor. A target drive amount of the seat drive mechanism is calculated, and a forward / reverse movement speed of the moving body is calculated based on the target drive amount of the passenger seat drive mechanism. Thereby, it can move at an appropriate speed.

  ADVANTAGE OF THE INVENTION According to this invention, the moving body which has high operativity, and its control method can be provided.

  Hereinafter, embodiments of a small vehicle according to the present invention will be described in detail with reference to the drawings. However, the present invention is not limited to the following embodiments. In addition, for clarity of explanation, the following description and drawings are simplified as appropriate.

Embodiment 1 of the Invention
A moving body 1 according to Embodiment 1 will be described with reference to FIGS. 1 and 2. FIG. 1 is a front view schematically showing the configuration of the moving body 1, and FIG. 2 is a side view schematically showing the configuration of the moving body 1. 1 and 2 show an XYZ orthogonal coordinate system. The Y axis indicates the left-right direction of the moving body 1, the X axis indicates the front-rear direction of the moving body 1, and the Z axis indicates the vertical direction. Therefore, the X axis corresponds to the roll axis, the Y axis becomes the pitch axis, and the Z axis becomes the yaw axis. In FIG. 1 and FIG.

  As shown in FIG. 1, the moving body 1 has a riding section 3 and a chassis 13. The chassis 13 is a main body of the moving body 1 and supports the riding section 3. The chassis 13 includes an attitude detection unit 4, wheels 6, a footrest 10, a housing 11, a control calculation unit 51, a battery 52, and the like. The wheel 6 includes a front wheel 601 and a rear wheel 602. Here, a three-wheeled moving body 1 composed of one front wheel 601 and two rear wheels 602 will be described.

  The boarding unit 3 includes a boarding seat 8 and a force sensor 9. And the upper surface of the boarding seat 8 becomes the seat surface 8a. That is, the moving body 1 moves on the seat surface 8a in a state where the passenger is on the seat surface 8a. The seating surface 8a may be a flat surface or may have a shape that matches the shape of the collar. Further, a backrest may be provided on the boarding seat 8. That is, the boarding seat 8 may have a wheelchair shape. In order to improve riding comfort, the passenger seat 8 may be cushioned. When the moving body 1 is on a horizontal plane, the seating surface 8a is horizontal. The force sensor 9 detects the weight shift of the passenger. That is, the force sensor 9 detects the force applied to the seat surface 8 a of the passenger seat 8. The force sensor 9 outputs a measurement signal corresponding to the force applied to the seating surface 8a. The force sensor 9 is disposed below the passenger seat 8. That is, the force sensor 9 is disposed between the chassis 13 and the passenger seat 8.

As the force sensor 9, for example, a 6-axis force sensor can be used. In this case, as shown in FIG. 3, the translational forces (SFx, SFy, SFz) in the three-axis directions and the moments (SMx, SMy, SMz) around each axis are measured. These translational forces and moments are values with the center of the force sensor 9 as the origin. If the measurement signals output to the sensor processing unit of the moving body 1 are moments (Mx, My, Mz) and the control coordinate origins of those moments are (a, b, c) shown in FIG. Can be expressed as follows.
Mx = SMx + c · SFy−b · SFz
My = SMy + a · SFz−c · SFx
Mz = SMz + b.SFx-a.SFy
FIG. 3 is a diagram for explaining each axis. Any force sensor 9 that can measure moments (Mx, My, Mz) may be used. A triaxial force sensor that can measure moments (SMx, SMy, SMz) around each axis may be arranged at the control coordinate origin, and Mx, My, Mz may be directly measured. Three uniaxial force sensors may be provided. Furthermore, an analog joystick using a strain gauge or a potentiometer may be used. That is, it is only necessary to be able to measure moments around three axes directly or indirectly. The force sensor 9 outputs three moments (Mx, My, Mz) as measurement signals.

  A chassis 13 that is a main body portion of the moving body 1 is provided with an attitude detection unit 4, wheels 6, a footrest 10, a housing 11, a control calculation unit 51, a battery 52, and the like. The housing 11 has a box shape, and the front lower side protrudes. And the footrest 10 is arrange | positioned on this protruding part. The footrest 10 is provided on the front side of the passenger seat 8. Therefore, in the state where the passenger has boarded the boarding seat 8, both feet of the passenger are placed on the footrest 10.

  The housing 11 includes a drive motor 603, an attitude detection unit 4, a control calculation unit 51, and a battery 52. The battery 52 supplies power to each electric device such as the drive motor 603, the attitude detection unit 4, the control calculation unit 51, and the force sensor 9. The posture detection unit 4 includes, for example, a gyro sensor or an acceleration sensor, and detects the posture of the moving body 1. That is, when the chassis 13 is tilted, the posture detection unit 4 detects the tilt angle and the tilt angular velocity. The posture detection unit 4 detects the inclination angle of the posture around the roll axis and the inclination angle of the posture around the pitch axis. Then, the posture detection unit 4 outputs a posture detection signal to the control calculation unit 51.

  Wheels 6 are rotatably attached to the housing 11. Here, three wheels 6 on the disk are provided. A part of the wheel 6 protrudes below the lower surface of the housing 11. Therefore, the wheel 6 is in contact with the floor surface. The two rear wheels 602 are provided at the rear part of the housing 11. The rear wheel 602 is a drive wheel and is rotated by a drive motor 603. That is, when the drive motor 603 is driven, the rear wheel 602 rotates around the axle. The rear wheels 602 are provided on both the left and right sides. The rear wheel 602 has a built-in encoder for reading its rotational speed. The two rear wheels 602 are arranged on the same axis. The axle of the left rear wheel 602 and the axle of the right rear wheel 602 are arranged on the same straight line.

  Further, the wheel 6 includes a front wheel 601. One front wheel 601 is provided at the center of the front portion of the housing 11. Accordingly, the front wheel 601 is disposed between the two rear wheels 602 in the Y direction. A passenger seat 8 is provided between the axle of the front wheel 601 and the axle of the rear wheel 602 in the X direction. The front wheel 601 is a driven wheel (auxiliary wheel), and rotates according to the movement of the moving body 1. That is, the front wheel 601 rotates according to the moving direction and speed by the rotation of the rear wheel 602. Thus, by providing the front wheel 601 that is an auxiliary wheel in front of the rear wheel 602, it is possible to prevent the vehicle from falling. The front wheel 601 is provided below the footrest 10.

  The control calculation unit 51 is an arithmetic processing unit having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a communication interface, and the like. The control calculation unit 51 includes a removable HDD, optical disk, magneto-optical disk, etc., stores various programs and control parameters, and supplies the programs and data to a memory (not shown) as necessary. To do. Of course, the control calculation unit 51 is not physically limited to one configuration. The control calculation unit 51 performs processing for controlling the operation of the drive motor 603 in accordance with the output from the force sensor 9. Further, processing for controlling the tilt of the chassis 13 is performed in accordance with the output from the posture detection unit 4. That is, the posture of the moving body 1 changes according to the inclination of the chassis 13. A mechanism for changing the posture is built in the housing 11. The boarding seat 8 is displaced by the operation of this mechanism. This configuration will be described later.

  Next, a control system for moving the moving body 1 will be described with reference to FIG. FIG. 4 is a block diagram illustrating a configuration of a control system for moving the moving body 1. First, the force applied to the seating surface 8a is detected by the force sensor 9. The sensor processing unit 53 processes the measurement signal from the force sensor 9. That is, arithmetic processing is performed on measurement data corresponding to the measurement signal output from the force sensor 9. Thereby, the input moment value input to the control calculation unit 51 is calculated. The sensor processing unit 53 may be built in the force sensor 9 or may be built in the control calculation unit 51.

  In this manner, the moments (Mx, My, Mz) measured by the force sensor 9 are converted into input moment values (Mx ′, My ′, Mz ′) around each axis. The input moment value becomes an input value that is input to operate each rear wheel 602. Thus, the sensor processing unit 53 calculates an input value for each axis. The magnitude of the input moment value is determined according to the magnitude of the moment. The sign of the input moment value is determined by the sign of the measured moment. That is, when the moment is positive, the input moment value is also positive, and when the moment is negative, the input moment value is also negative. For example, when the moment Mx is positive, the input moment value Mx ′ is also positive. Therefore, this input moment value becomes an input value corresponding to the operation intended by the passenger.

The control calculation unit 51 obtains the input torque τ _i based on the input moment values (Mx ′, My ′, Mz ′). For example, the input torque τ _i = (Mx ′, My ′, Mz ′). And control calculation is performed based on this torque (tau) _i . Thereby, a command value for driving the drive motor 603 is calculated. Usually, the command value increases as the torque τ _i increases. This command value is output to the drive motor 603. In the present embodiment, since the left and right rear wheels 602 are drive wheels, two drive motors 603 are illustrated. Then, one drive motor 603 rotates the right rear wheel 602, and the other drive motor 603 rotates the left rear wheel 602. The drive motor 603 rotates the rear wheel 602 based on the command value. That is, the drive motor 603 gives a command torque for rotating the rear wheel 602 that is a drive wheel. Of course, the drive motor 603 may give a rotational torque to the rear wheel 602 via a reduction gear or the like. For example, when a command torque is input as a command value from the control calculation unit 51, the drive motor 603 rotates with the command torque. Thereby, the rear wheel 602 rotates and the moving body 1 moves in a desired direction at a desired speed. Of course, the command value is not limited to the torque of the drive motor 603 but may be a rotation speed or a rotation speed.

  Furthermore, each of the drive motors 603 includes an encoder 603a. The encoder 603a detects the rotational speed of the drive motor 603 and the like. Then, the detected rotation speed is input to the control calculation unit 51. The control calculation unit 51 performs feedback control based on the current rotation speed and the target rotation speed. For example, the command value is calculated by multiplying the difference between the target rotational speed and the current rotational speed by an appropriate feedback gain. Of course, the command values output to the left and right drive motors 603 may be different values. That is, when going straight forward or backward, the left and right rear wheels 602 are controlled to have the same rotational speed, and when turning left and right, the left and right rear wheels 602 have different rotational speeds in the same direction. Control to be. Further, when turning on the spot, the left and right rear wheels 602 are controlled to rotate in opposite directions.

For example, when the occupant assumes a forward leaning posture, a force around the pitch axis is applied to the passenger seat 8. Then, the force sensor 9 detects a moment of + My (see FIG. 3). Based on this + My moment, the sensor processing unit 53 calculates an input moment value My ′ for translating the moving body 1. Similarly, the sensor processing unit 53 calculates an input moment value Mx ′ based on Mx, and calculates an input moment value Mz ′ based on Mz. Thereby, the torque τ _i is obtained.

  The control calculation unit 51 calculates a command value based on the input moment value and the encoder reading. As a result, the left and right rear wheels 602 rotate at a desired rotational speed. Similarly, when turning rightward, the passenger moves weight to the right. Thereby, a force around the roll axis is applied to the passenger seat, and the force sensor 9 detects a moment of + Mx. Based on this + Mx moment, the sensor processing unit 53 calculates an input moment value Mx ′ for turning the moving body 1 in the right direction. That is, the steering angle corresponding to the direction in which the moving body 1 moves is obtained. Then, the control calculation unit 51 calculates a command value according to the input moment value. Depending on this command value, the left and right rear wheels 602 rotate at different rotational speeds. That is, the left rear wheel 602 rotates at a higher rotational speed than the right rear wheel 602.

  Based on My ′, a component for translational movement in the front-rear direction is obtained. That is, the driving torque for driving the left and right rear wheels 602 in the same direction at the same rotational speed is determined. Therefore, the larger My ′, that is, My, the faster the moving speed of the moving body 1. Based on Mx ′, a component with respect to the moving direction, that is, the steering angle is obtained. That is, the rotational torque difference between the left and right rear wheels 602 is determined. Therefore, the difference in rotational speed between the left and right rear wheels 602 increases as Mx ′, that is, Mx increases.

  Based on Mz ′, a component for in-situ turning is determined. That is, a component for turning on the spot by rotating the left and right rear wheels 602 in the opposite direction is obtained. Accordingly, the larger Mz ′, that is, Mz, the greater the rotational speed in the opposite direction of the left and right rear wheels 602. For example, when Mz ′ is positive, a driving torque for turning in the counterclockwise direction as viewed from above is calculated. That is, the right rear wheel 602 rotates forward and the left rear wheel 602 rotates rearward at the same rotational speed.

  Then, the three components calculated based on the respective input moment values Mx ′, My ′, and Mz ′ are combined to calculate a command value for driving the two rear wheels 602. Thereby, the command values for the left and right rear wheels 602 are respectively calculated. Driving torque, rotation speed, etc. are calculated as command values. That is, the command value for the left and right rear wheels 602 is calculated by combining the values calculated for each component corresponding to the input moment values Mx ′, My ′, and Mz ′. Thus, the moving body 1 moves by the input moment values Mx ′, My ′, Mz ′ calculated based on the measured moments Mx, My, Mz. That is, the moving direction and moving speed of the moving body 1 are determined by the moments Mx, My, Mz due to the weight movement of the passenger.

  Thus, the input for moving the mobile body 1 is performed by the operation of the passenger. That is, a moment around each axis is detected by a change in the posture of the passenger. Based on the measured values of these moments, the moving body 1 moves. Thereby, the passenger can operate the moving body 1 simply. That is, operations such as a joystick and a handle are not necessary, and an operation can be performed only by weight shift. For example, if you want to move forward diagonally to the right, put your weight on the right front. Also, if you want to move diagonally to the left, put your weight on the left rear. As a result, the position of the center of gravity of the occupant changes, and input corresponding to the amount of change is performed. That is, an intuitive operation can be performed by detecting a moment corresponding to the movement of the center of gravity of the passenger.

  Furthermore, the moving body 1 is provided with a drive unit 5 for driving the boarding seat 8. The control with respect to this drive part 5 is demonstrated. The drive unit 5 includes a yaw axis mechanism 501, a pitch axis mechanism 502, and a roll axis mechanism 503. The yaw axis mechanism 501, the pitch axis mechanism 502, and the roll axis mechanism 503 are rotary joints, and the posture of the passenger seat 8 changes as these operate. The yaw axis mechanism 501 rotates the passenger seat 8 around the yaw axis. The pitch axis mechanism 502 rotates the passenger seat 8 around the pitch axis. The roll shaft mechanism 503 rotates the boarding seat 8 around the roll axis. Thereby, the angle of the seat surface 8a with respect to the chassis 13 changes. That is, the seating surface 8 a is inclined with respect to the chassis 13. Therefore, the yaw axis mechanism 501, the pitch axis mechanism 502, and the roll axis mechanism 503 each have a motor for driving a joint and a speed reducer as driving sections for driving the passenger seat 8 by the driving section 5. Encoders 501a, 502a, and 503a for detecting the rotation angle of the joint motor are provided.

  As described above, the control calculation unit 51 performs control calculation according to the torque from the sensor processing unit 53. The control calculation unit 51 then outputs a command value for driving the joints of the yaw axis mechanism 501, the pitch axis mechanism 502, and the roll axis mechanism 503. That is, the control calculation unit 51 calculates the target joint angle of each axis mechanism based on the torque. And the control calculation part 51 calculates the command value according to the target joint angle, and outputs it to each motor. Thereby, each joint of the yaw axis mechanism 501, the pitch axis mechanism 502, and the roll axis mechanism 503 becomes a target joint angle. That is, each axis mechanism is driven so as to follow the target joint angle. Therefore, the posture of the moving body 1 changes and the seating surface 8a of the passenger seat 8 can be set to a desired angle.

  Thus, the inclination angle of the seating surface 8a changes according to the input to the force sensor 9. Thereby, a passenger can grasp | ascertain an input value intuitively. Therefore, operability can be improved.

  Next, the structure for changing the attitude | position of the mobile body 1 is demonstrated using FIG. FIG. 5 is a diagram showing a configuration of a mechanism for changing the posture, and shows an internal configuration of the chassis 13. As shown in FIG. 5, the chassis 13 is provided with a frame portion 2 for controlling the posture. The frame unit 2 is disposed in the housing 11. In the frame portion 2, the first parallel link mechanism 201 and the second parallel link mechanism 202 are coupled in a T-shape in plan view so as not to restrict mutual rotation at the intersection.

The first parallel link mechanism 201 is arranged in the front-rear direction. The first parallel link mechanism 201 includes four horizontal links 201a and front and rear vertical links 201b.
The horizontal links 201a are all equal in length. Although not shown in the figure, both ends of the horizontal link 201a are formed with fitting holes for fitting the connecting shaft with the vertical link 201b. The two horizontal links 201a are arranged up and down, and the two horizontal links 201a are arranged on the left and right sides of the vertical link 201b so as to sandwich the vertical link 201b.

  Although not shown from the left and right side portions of the vertical link 201b, the connecting shaft with the horizontal link 201a protrudes in the left-right direction in an arrangement in which the vertical links 201b face each other with an equal interval in the vertical direction. The connecting shaft is fitted as a rotating shaft between the horizontal link 201a and the vertical link 201b in a fitting hole of the horizontal link 201a via a bearing or the like.

  The vertical link 201b on the front side of the present embodiment is formed in an L shape. The horizontal link 201a is rotatably connected to the upper and lower ends of the vertical piece of the vertical link 201b via a connecting shaft. A free caster is provided as the wheel 6 at the tip of the horizontal piece of the vertical link 201b. When the moving direction of the moving body 1 changes, the direction of the caster rotates according to the change. The rear vertical link 201b includes a protruding portion that protrudes downward from the lower horizontal link 201a. Although not shown in the drawings, the connecting shaft with the second parallel link mechanism 202 protrudes in the front-rear direction from both the front and rear side portions of the protrusion. Further, although not shown from the portion between the upper and lower horizontal links 201a on both the front and rear side portions of the rear vertical link 201b, the connecting shaft with the second parallel link mechanism 202 is arranged in the front-rear direction in a mutually opposed arrangement. Protruding.

The second parallel link mechanism 202 is disposed in the left-right direction. The second parallel link mechanism 202 includes four horizontal links 202a and left and right vertical links 202b.
The horizontal links 202a are all equal in length. Although not shown in the drawings, both ends of the horizontal link 202a are formed with fitting holes for fitting the connecting shaft with the vertical link 202b. Further, although not shown, a fitting hole for fitting a connecting shaft with the first parallel link mechanism 201 is formed at a substantially central position in the longitudinal direction of the horizontal link 202a. The two horizontal links 202a are arranged vertically, and the two horizontal links 202a are taken as a set, and the vertical link 202b and the vertical link 201b on the rear side of the first parallel link mechanism 201 are sandwiched therebetween. The longitudinal link 202b and the longitudinal link 201b on the rear side of the first parallel link mechanism 201 are disposed on both front and rear sides. The connecting shaft protruding from the longitudinal link 201b on the rear side of the first parallel link mechanism 201 is a rotational axis between the first parallel link mechanism 201 and the second parallel link mechanism 202, and is located at a substantially central position of the lateral link 202a. The fitting hole is fitted through a bearing or the like.

  Although not shown from the front and rear side portions of the vertical link 202b, the connecting shaft with the horizontal link 202a protrudes in the front-rear direction in an arrangement in which the vertical links 202b face each other at equal intervals in the vertical direction. The connecting shaft is fitted as a rotating shaft between the horizontal link 202a and the vertical link 202b in a fitting hole at an end of the horizontal link 202a via a bearing or the like.

  As a result, the first parallel link mechanism 201 can be rotated in the front-rear direction without being constrained by the second parallel link mechanism 202. On the other hand, the second parallel link mechanism 202 is configured to be rotatable in the left-right direction without being constrained by the first parallel link mechanism 201.

  The boarding unit 3 is provided on the posture detection unit 4 and interlocks with the rotation of the frame unit 2. Specifically, the riding section 3 is connected to the upper and lower horizontal links 201 a of the first parallel link mechanism 201 via the support shaft 301. Although not shown from the left and right sides of the upper and lower portions of the support shaft 301, a connecting shaft with the upper and lower horizontal links 201 a of the first parallel link mechanism 201 protrudes in the left-right direction. Although not shown, a fitting hole for fitting the connecting shaft protruding from the support shaft 301 is formed at a substantially central position in the longitudinal direction of the horizontal link 201a of the first parallel link mechanism 201. The support shaft 301 is inserted between the horizontal links 201a arranged on the left and right of the vertical link 201b so as to sandwich the vertical link 201b. The connecting shaft protruding from the support shaft 301 is fitted into the fitting hole of the first parallel link mechanism 201 via a bearing or the like. As a result, when the first parallel link mechanism 201 rotates in the front-rear direction, the support shaft 301 and the vertical link 201b are interlocked while maintaining a parallel state.

  When the driving unit 5 is driven, the frame unit 2 operates. Thereby, the attitude | position of the mobile body 1 changes. The angle of the riding section 3 changes as the chassis 13 tilts. The drive unit 5 is provided with a yaw axis mechanism 501 that rotates around the yaw axis, a pitch axis mechanism 502 that rotates around the pitch axis, and a roll axis mechanism 503 that rotates around the roll axis. The yaw shaft mechanism 501 is provided between the support shaft 301 and the posture detection unit 4, for example. That is, the yaw axis mechanism 501 is provided closest to the riding section 3 among the three mechanisms. The yaw axis mechanism 501 is a turning joint that turns the riding part 3 around the yaw axis, and the pitch axis mechanism 502 and the roll axis mechanism 503 are rotary joints that rotate the riding part 3 around the axis.

  Next, a method for controlling the moving body 1 will be described with reference to FIG. FIG. 6 is a flowchart illustrating a method for controlling the moving body 1. FIG. 6 shows one cycle in the control of the moving body 1. According to this flowchart, movement control and posture control of the moving body 1 are performed. That is, FIG. 6 shows a control method for driving the rear wheels 602 and driving the drive unit 5.

  First, the joint angles of the yaw axis mechanism 501, the pitch axis mechanism 502, and the roll axis mechanism 503 are detected (step S101). That is, the angle of each joint is detected by encoders 501a, 502a, and 503a provided in each shaft mechanism. The moving body 1 has a posture corresponding to the joint angle. Next, the value of moment is detected by the force sensor 9 (step S102). That is, moments (Mx, My, Mz) are measured. Then, offset correction of the force sensor 9 is performed (step S103). That is, when the position where the passenger is sitting is shifted, an offset is given to the position. An offset is given to the control target origin so as to correct the displacement of the boarding position with respect to the input moment. Thereby, moments (Mx ′, My ′, Mz ′) in which the positional deviation is corrected can be calculated. Note that the order of step S101 and step S102 may be reversed, and step S101 and step S102 may be performed in parallel.

The equilibrium position and orientation φ _id of the seating surface is input (step S104). As described above, when the moving body 1 is moving on a flat floor, the position where the seat surface 8a is horizontal is the equilibrium position posture. The joint angles of the yaw axis mechanism 501, the pitch axis mechanism 502, and the roll axis mechanism 503 at this time correspond to the equilibrium position / posture. Therefore, in this embodiment, the equilibrium position / posture is constant. That is, an equilibrium position / posture is selected so that the joint angle of each axis is constant regardless of the movement state.

  Next, compliance compensation is performed (step S105). The target joint angles of the yaw axis mechanism 501, the pitch axis mechanism 502, and the roll axis mechanism 503 are determined by the compliance control here. Compliance control is control that behaves in a pseudo manner with spring characteristics and damping characteristics. The spring characteristics and damping characteristics are shown by the operations of the yaw axis mechanism 501, the pitch axis mechanism 502, and the roll axis mechanism 503. By introducing this compliance control, the seat surface 8a can be tilted according to the force of the passenger. Here, compliance control is performed using the joint angle of the yaw axis mechanism 501, the pitch axis mechanism 502, the roll axis mechanism 503, the moment of the force sensor 9, and the equilibrium position and orientation of the seating surface 8a. Thereby, target joint angles of the yaw axis mechanism 501, the pitch axis mechanism 502, and the roll axis mechanism 503 are calculated. Details of this step will be described later.

  Then, the seating surface 8a is controlled (step S106). That is, the motor provided on each axis is driven so that the yaw axis mechanism 501, the pitch axis mechanism 502, and the roll axis mechanism 503 have the target joint angles. As a result, the inclination of the seating surface 8a is changed to the current target position / posture. Here, the inclination of the seating surface 8a changes according to the output of the force sensor 9. That is, the passenger receives a force from the seating surface 8a according to the force on the seating surface 8a. Therefore, the passenger 19 can intuitively grasp the input to the force sensor 9. Thereby, operativity improves and it can move as the passenger's 19 intent.

Next, the wheel rotation angle, speed, and torque are detected (step S107). That is, the operating state of the left and right rear wheels 602 is detected based on the output of the encoder 603a. Then, the forward / reverse speed of the moving body 1 is calculated from the target joint angle around the pitch axis (step S108). At this time, the forward / reverse speed is calculated based on the current target position / posture φ _i obtained in step S105. That is, the control calculation unit 51 calculates the forward / reverse speed based on the target joint angle of the pitch axis mechanism 502. Therefore, the target forward / reverse speed is determined by the moment of the force sensor 9, the equilibrium position / posture of the seat surface, and the joint angles.

Further, the turning speed of the moving body 1 is calculated from the joint angles of the roll axis and the yaw axis (step S109). The control calculation unit 51 calculates the turning speed based on the current target position and orientation φ _i obtained in step S105. That is, the control calculation unit 51 calculates the forward / reverse speed based on the target joint angles of the yaw axis mechanism 501 and the roll axis mechanism 503. Therefore, the target forward / reverse speed is determined by the moment of the force sensor 9, the equilibrium position of the seat surface, and each joint angle.

  Then, the rotational speed of the left and right rear wheels 602 is calculated by combining the forward / reverse speed and the turning speed (step S110). That is, the rotational torque for rotating the rear wheel 602 is calculated. The torque of the left and right rear wheels 602 becomes a command value and is output to the drive motor 603. Here, feedback control is performed using the rotation angle of the rear wheel 602 detected in step S107 and the target speed. The control calculation unit 51 outputs a command value for driving the drive motor 603. Thereby, the moving body 1 moves at a speed close to the forward / reverse speed calculated in step S108 and the turning speed calculated in step S109. Therefore, the moving body 1 moves as intended by the passenger in response to the input from the force sensor 9.

Next, the compliance compensation in step S105 will be described with reference to FIG. FIG. 7 is a flowchart showing details of the compliance control. First, the passenger moves weight (step S201). That is, in order to move the mobile body 1, input is performed by weight movement. Thereby, the force applied to the force sensor 9 changes. Torque τ _i around the three axes applied to the seating surface 8a is detected by the force sensor 9 (step S201). This torque τ _i can be calculated from the input moment. Torque τ _θz (= Mz ′) around the yaw axis, torque τ _θy (= My ′) around the pitch axis, and torque τ _θx (= Mx ′) around the roll axis are calculated. Thus, τ _i is a torque and includes components for roll, pitch, and yaw. That is, τ _i includes three components τ _θx , τ _θy , and τ _θz .

In parallel with steps S201, S202, and inputs the equilibrium position and orientation phi _id of the seat surface (step S203). The equilibrium position / posture φ _id indicates a reference position that is a reference for the yaw axis mechanism 501, the pitch axis mechanism 502, and the roll axis mechanism 503. That is, a joint angle that is a reference for each axis mechanism is input to the control calculation unit 51. In the present embodiment, the value of the equilibrium position and orientation φ _id of the seating surface is fixed. The memory of the control calculation unit 51, joint angle as the equilibrium position and orientation phi _id is stored. Then, by reading the joint angle, the equilibrium position / posture φ _id is input. When the moving body 1 is moving on a flat floor, the position where the seating surface 8a is horizontal is the equilibrium position. Therefore, a constant joint angle in each axis mechanism indicates the equilibrium position posture φ _id . The equilibrium position and orientation φ _id is determined for each axis. The equilibrium position / posture φ _id is composed of three components: an equilibrium position / posture φ _θxd around the roll axis, an equilibrium position / posture φ _θyd around the pitch axis, and an equilibrium position / posture φ _θzd around the yaw axis. These correspond to the joint angle which is the reference of each axis mechanism.

Next, determine the current target position posture phi _i of the seat surface from the torque tau _i and the balanced position posture phi _id (step S204). Here, the control calculation unit 51 calculates the current target position and orientation φ _i of the riding unit 3 based on the mathematical formula described in step S204. That is, the current target position and orientation φ _i can be calculated by solving the equation described in step S204. The current target position / posture φ _i includes, for example, a target joint angle of the yaw axis mechanism 501, a target joint angle of the pitch axis mechanism 502, and a target joint angle of the roll axis mechanism 503. Therefore, the current target position and orientation φ _i is composed of three components of φ _θx , φ _θy , and φ _θz . Target joint angle in each axis mechanism is calculated based on the torque tau _i and the balanced position posture phi _id.

In the equation of step S204, M _i is an inertia matrix, D _i is a viscosity coefficient matrix, K _i is a stiffness matrix, and these are 3 × 3 matrices. The inertia matrix, the viscosity coefficient matrix, and the stiffness matrix can be set according to the configuration and operation of the moving body 1. Moreover, (dot) attached | subjected on (phi) _i and (phi) _id has shown the time differentiation. When one dot is attached, one-time differentiation is indicated, and when two dots are attached, two-time differentiation is indicated. For example, if one dot is attached on φ _i , the target posture speed is obtained, and if two dots are attached, the target posture acceleration is obtained. Similarly, when one dot is attached on φ _id , the equilibrium position / posture speed is obtained, and when two dots are attached, the equilibrium position / posture acceleration is obtained. In the present embodiment, since the equilibrium position and orientation phi _id is fixed, the equilibrium position and orientation speed, parallel position and orientation acceleration becomes essentially zero.

Then, movement control is performed based on the current target position and orientation φ _i (step S205). Further, in parallel with the movement control, the seat surface tilt control is performed (step S206). In the movement control, the step S108, and as shown in step S109, calculates the current reverse rate before based on the target position and orientation phi _i, and the turning speed. That is, the forward / reverse speed of the moving body 1 is determined according to the current target position / posture φ _θy . The greater the value of _φθy, the greater the forward / reverse speed. Further, the turning speed of the moving body 1 is determined according to the current target position / posture φ _θx and φ _θz . The turning speed increases as the values of φ _θx and φ _θz increase. Then, the rotational torque of the left and right rear wheels 602 is calculated from the forward / reverse speed and the turning speed. Here, the target rotational speed for the left and right rear wheels 602 is calculated by combining the forward / reverse speed and the turning speed. Then, feedback control for calculating the rotational torque is performed from the difference between the current rotational speed and the target rotational speed. The control calculation unit 51 outputs this rotational torque as a command value to the drive motor 603. In this way, movement control is performed.

Inclination control of the seat surface 8a is also performed based on the current target position posture phi _i. That is, as the current input the target position and orientation phi _i, calculates a command value for each axis mechanism. Based on the current target position and orientation φ _i , command values for the respective axis mechanisms are calculated. And according to this command value, the yaw axis mechanism 501, the pitch axis mechanism 502, and the roll axis mechanism 503 are driven. Therefore, the inclination of the seating surface 8 a changes so as to be the target joint angle of the yaw axis mechanism 501, the target joint angle of the pitch axis mechanism 502, and the target joint angle of the roll axis mechanism 503. In this way, each axis mechanism is driven so as to follow the target joint angle. Thereby, the attitude | position of the riding part 3 changes and the inclination of the seat surface 8a changes. Therefore, the passenger receives force from the seating surface 8a. Then, the seat surface 8a becomes the current target position posture phi _i.

Thus, currently using the target position and orientation phi _i, and movement control, the inclination control of the seat surface 8a are performed. That is, the command value for each motor is calculated based on the current target position and orientation φ _i . The control calculation unit 51 drives the rear wheels 602 and the drive unit 5 based on the drive amount of the drive unit 5 that drives the passenger seat, the equilibrium position and orientation of the seating surface 8a, and the measurement signal from the force sensor 9. A command value for calculating is calculated.

  Thus, the method of fixing the passenger seat 8 to the chassis 13 is not rigidly coupled but has a structure that is deformed and displaced to some extent with respect to the input. Therefore, it is possible to control to make a soft movement like a spring. That is, if it represents with a motor vehicle, the drive part 5 functions as a suspension. And based on the detection result in the force sensor 9, the drive part 5 is controlled.

  Thereby, operability can be improved. That is, by driving the mechanism around each axis, it is possible to intuitively understand how much operation is being performed. The difference between the actual operation amount and the intended operation amount can be recognized. Therefore, the shift of the actual operation amount with respect to the intended operation amount can be suppressed. Further, even when the occupant is receiving centrifugal force, an operation for performing the intended movement is possible. That is, it is possible to prevent the speed from being increased more than necessary or the speed from being decreased more than necessary. Thereby, the mobile body 1 with high operability can be realized.

In the present embodiment, the joint angle at which the equilibrium position / posture becomes constant regardless of the movement state. It becomes easier for the passenger to grasp the operation amount. For example, when the passenger removes the force, the seat surface 8a returns to the equilibrium position / posture. Thereby, operability can be improved. Further, the movement control is also performed based on the current target position and orientation φ _i . Thereby, the forward / reverse speed and the turning speed can be calculated as intended by the passenger. Therefore, operability can be improved. Control calculation unit 51, based on the measurement signal from the equilibrium position and orientation phi _id and the force sensor 9 of the drive amount of the drive unit 5 and the passenger seat 8, a rear wheel 602, and the command value for driving the drive unit 5 Is calculated. Therefore, the command value can be accurately calculated, and the vehicle can move as intended by the passenger.

Embodiment 2. FIG.
In the present embodiment, the input of the equilibrium position and posture is different from that in the first embodiment. That is, in the present embodiment, the equilibrium position / posture changes dynamically. For example, when the moving body 1 moves on an inclined surface or a step surface, the seat surface 8a is inclined according to the inclined surface. Therefore, in the present embodiment, the drive unit 5 is driven according to the inclined surface. Here, even if it is an inclined surface, the drive part 5 is driven so that a seat surface may approach horizontal. Therefore, even when moving on an inclined surface or a single wheel step, the operability is improved. Since the configuration and control other than this are the same as those in the first embodiment, description thereof is omitted.

  A method for controlling the moving body 1 according to the present embodiment will be described with reference to FIGS. FIG. 8 is a flowchart corresponding to FIG. 6 shown in the first embodiment. FIG. 9 is a flowchart corresponding to FIG. 7 shown in the first embodiment. FIG. 10 is a side view showing the moving body 1 that is moving.

  In the present embodiment, the equilibrium position / posture is changed according to the output of the posture detection unit 4. That is, the posture detection unit 4 detects the posture of the moving body 1. Therefore, when the floor on which the moving body 1 is moving is not flat, the output of the posture detection unit 4 changes. For example, as illustrated in FIG. 10, when the moving body 1 moves from a flat surface to an inclined surface, the posture detection unit 4 detects a posture change of the moving body 1. Then, the equilibrium position / posture is dynamically changed according to the posture change. Therefore, the joint angle of the equilibrium position / posture is different when moving on the inclined surface and when moving on the flat surface.

Therefore, first, as shown in FIG. 8, the joint angles of the roll axis, pitch axis, and yaw axis are detected in the same manner as in the first embodiment (step S301). Further, the posture is detected by the posture detection unit 4 (step S302). That is, the posture detection unit 4 detects a posture change caused by the floor surface. Thereby, the inclination angle Δφ _i of the inclined surface shown in FIG. 10 can be detected. Note that step S301 and step S302 may be performed in parallel. Then, as in the first embodiment, the moment value detection by the force sensor (step S303) and the offset correction of the force sensor 9 (step S304) are performed.

Thereafter, the equilibrium position / posture φ _id of the seating surface is input (step S305). Here, the equilibrium position posture φ _id changes in accordance with the posture change detected by the posture detection unit 4. That is, the equilibrium position posture φ _id is input so that the seat surface 8a is horizontal even when moving on the inclined surface. Therefore, the value of the equilibrium position and orientation φ _id is corrected by the inclination angle Δφ _i of the inclined surface. The target joint angle is changed by the amount of inclination of the floor. Further, when the posture detection unit 4 has a three-axis gyro sensor, a posture change around the roll, pitch, and yaw axes is detected. In this case, the roll axis around the equilibrium position and orientation phi _Shitaxd, equilibrium position and orientation phi _Shitayd around the pitch _axis, the equilibrium position and orientation phi _Shitazd about the yaw axis is corrected. The drive unit 5 is controlled so that the seating surface 8a is not a slope but parallel to a horizontal plane.

Then, compliance compensation is performed (step S306). Similarly to Embodiment 1, the roll axis, pitch axis, and joint angle of the yaw axis, and the value of the detected moment by the force sensor, the balanced position posture phi _id of the seat surface is utilized. Of course, the equilibrium position and orientation φ _id of the seat surface 8a changes according to the floor surface. The seating surface 8a is controlled by compliance control (step S307). As in the first embodiment, the motors provided on the respective axes are driven so that the yaw axis mechanism 501, the pitch axis mechanism 502, and the roll axis mechanism 503 each have a target joint angle. Accordingly, after changing the inclination of the seat surface 8a, the current target position posture phi _i.

Next, as in the first embodiment, the wheel rotation angle, speed, and torque are detected (step S308). Then, the forward / reverse speed of the moving body 1 is calculated from the angle around the pitch axis (step S309). At this time, the control calculation unit 51 calculates the forward / reverse speed based on the difference obtained by subtracting the inclination angle Δφ _i of the inclined surface from the current target position / posture φ _i . That is, the forward / reverse speed is calculated based on the difference between the current target position / posture φ _θy and Δφ _θy .

The turning speed of the moving body 1 is calculated from the angles of the roll axis and the yaw axis (step S310). Here, as in step S309, the control calculation unit 51 calculates the turning speed based on the difference obtained by subtracting the inclination angle Δφ _i of the inclined surface from the current target position and orientation φ _i . Based on the difference between the current target position and orientation φ _θx and Δφ _θx and the difference between the current target position and orientation φ _θz and Δφ _θz , the turning speed is calculated. And the torque of the left and right rear wheels is calculated from the forward / reverse speed and the turning speed. Note that the processing in step S311 is the same as that in the first embodiment, and a description thereof will be omitted. Thus, in the present embodiment, the command value is calculated in consideration of the inclination angle Δφ _i of the inclined surface. Therefore, the amount of operation can be accurately transmitted to the passenger even in an environment such as an inclined surface or a single wheel step. As a result, the operation amount is easily understood by the passenger. For example, when the passenger removes the force, the passenger returns to the equilibrium position and the seating surface 8a becomes horizontal.

Next, compliance control in the present embodiment will be described. First, as shown in FIG. 9, when the occupant moves weight (step S401), the force sensor 9 detects the torque τ _i (step 402). These steps are the same as those in the first embodiment. Steps S403 and S404 may be performed in parallel with steps S401 and S402.

The deviation of the attitude angle of the moving body 1 is detected, and the inclination angle Δφ _i of the inclined surface is sensed by the attitude detection unit 4 (step S403). Then, enter the equilibrium position and orientation phi _id of the seat surface 8a obtained by correcting the inclination angle [Delta] [phi _i of the inclined surface (step S404). That is, the joint angle that becomes the equilibrium position and orientation φ _id is input to the memory or the like of the control calculation unit 51. Here, the equilibrium position and orientation φ _id changes according to the inclination angle Δφ _i of the inclined surface. Even when the floor surface is an inclined surface or the like, the equilibrium position posture φ _id is set so that the seat surface 8a is horizontal. In the equilibrium position / posture φ _id , a joint angle is set such that the seating surface 8a is horizontal.

Then, it calculates the current target position posture phi _i (step S405). Current from the target position and orientation phi _i calculated in step S405, performs the movement control (step S406). Here, the command values for the left and right rear wheels 602 are calculated based on the difference obtained by subtracting the inclination angle Δφ _i of the inclined surface from the current target position and orientation. Also performs current inclination control of the seat surface from the target position and orientation phi _i (steps S407). Step 406 is the same as that in the first embodiment, and a description thereof will be omitted.

In the present embodiment, the equilibrium position posture φ _id changes according to the output of the posture detection unit 4. This makes it easier for the passenger to grasp the operation amount. For example, when the passenger removes the force, the seat surface 8a returns to the equilibrium position / posture. Thereby, operability can be improved. Moreover, since the seat surface 8a approaches flat, riding comfort can be improved. Control calculating unit 51, the inclination angle [Delta] [phi _i, based on the measurement signal from the equilibrium position and orientation phi _id and the force sensor 9 of the drive amount of the drive unit 5 and the passenger seat 8, a rear wheel 602, and a drive unit 5 A command value for driving is calculated. Therefore, the command value can be accurately calculated, and the vehicle can move as intended by the passenger.

  The present invention is not limited to the wheel-type moving body 1 but can be applied to a walking-type moving body. That is, it is only necessary that a moving mechanism for moving the main body such as the chassis 13 with respect to the floor surface is provided. Furthermore, Embodiments 1 and 2 may be combined. For example, the control according to the second embodiment is performed when moving on a flat ground, and the control according to the first embodiment is performed when moving on an inclined surface. The posture detection unit 4 may determine whether it is flat or inclined.

It is a front view which shows typically the mobile body concerning Embodiment 1 of this invention. It is a side view which shows typically the mobile body concerning Embodiment 1 of this invention. It is a figure for demonstrating the operation | movement around each axis | shaft. It is a block diagram which shows the control system for moving a moving body. It is a perspective view which shows the structure for changing the attitude | position of a moving body. 3 is a flowchart illustrating control of a moving object according to the first embodiment. 3 is a flowchart showing compliance control in the mobile body according to the first exemplary embodiment; 6 is a flowchart illustrating control of a moving object according to a second embodiment. 6 is a flowchart illustrating compliance control in a mobile object according to a second embodiment. It is a figure for demonstrating an attitude | position when a moving body is moving the downhill.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Mobile body 2 Frame part 3 Riding part 4 Attitude detection part 5 Drive part 501 Yaw axis mechanism 501a Encoder 502 Pitch axis mechanism 502a Encoder 503 Roll axis mechanism 503a Encoder 603 Drive motor 603a Encoder 6 Wheel 601 Front wheel 602 Rear wheel 603 Drive motor 603 Encoder 8 Passenger seat 8a Seat surface 9 Force sensor 10 Footrest 11 Housing 13 Chassis 51 Control calculation unit 52 Battery 53 Sensor processing unit 201 First parallel link mechanism 201a Lateral link 201b Vertical link 202 Second parallel link mechanism 202a Lateral link 202b Vertical link 301 Support shaft

Claims (10)

The boarding seat where the passenger boarded,
A main body for supporting the boarding seat;
A moving mechanism for moving the main body,
A sensor that outputs a measurement signal corresponding to the force applied to the seating surface of the passenger seat;
A boarding seat drive mechanism for driving the boarding seat so as to change the angle of the seating surface of the boarding seat;
Control calculation for calculating command values for driving the moving mechanism and the passenger seat drive mechanism based on the driving amount of the passenger seat drive mechanism, the equilibrium position and posture of the passenger seat, and the measurement signal from the sensor And a moving body. A posture detection unit that outputs a signal corresponding to the posture angle of the moving body;
The mobile body according to claim 1, wherein the equilibrium position / posture of the passenger seat changes according to an output of the posture detection unit.   The mobile body according to claim 2, wherein an equilibrium position and posture of the passenger seat changes so that a boarding surface of the passenger seat becomes horizontal.   The moving body according to claim 1, wherein an equilibrium position and posture of the boarding seat is constant regardless of a moving state of the moving body. Based on the driving amount of the passenger seat driving mechanism, the equilibrium position and posture of the passenger seat and the measurement signal from the sensor, the target driving amount of the passenger seat driving mechanism is calculated,
The moving body according to any one of claims 1 to 4, wherein a forward / backward moving speed of the moving body is calculated based on a target drive amount of the passenger seat drive mechanism. The boarding seat where the passenger boarded,
A main body for supporting the boarding seat;
A moving mechanism for moving the main body,
A sensor that outputs a measurement signal corresponding to the force applied to the seating surface of the passenger seat;
A boarding seat drive mechanism for driving the boarding seat so as to change the angle of the seating surface of the boarding seat,
Inputting an equilibrium position and posture of the passenger seat;
Calculating a command value for driving the moving mechanism and the passenger seat drive mechanism based on the measurement signal from the sensor, the equilibrium position and posture, and the driving amount of the passenger seat drive mechanism; A method for controlling a moving body comprising: A signal corresponding to the posture angle of the mobile body is output by the posture detection unit provided in the mobile body,
The mobile body control method according to claim 6, wherein the equilibrium position / posture of the passenger seat changes according to an output of the posture detection unit.   The method for controlling a moving body according to claim 7, wherein an equilibrium position / posture of the passenger seat is changed so that a boarding surface of the passenger seat is horizontal.   The mobile body control method according to claim 8, wherein an equilibrium position and posture of the boarding seat is constant regardless of a movement state of the mobile body. Based on the driving amount of the passenger seat driving mechanism, the equilibrium position and posture of the passenger seat and the measurement signal from the sensor, the target driving amount of the passenger seat driving mechanism is calculated,
The method for controlling a moving body according to any one of claims 6 to 9, wherein a forward / rearward moving speed of the moving body is calculated based on a target drive amount of the passenger seat drive mechanism.

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