JP2012068189A - Failure detection device, failure detection method, and inverted moving body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a failure detection device, a failure detection method and an inverted moving body capable of easily identifying a failed sensor.SOLUTION: A failure detection device in the present embodiment which detects a failure of a gyro sensor provided to an inverted moving body includes a first pitch sensor 111 for detecting an angular speed of a first direction around a first shaft and outputting a first detection signal, a second pitch sensor 112 for outputting a second detection signal showing an angular speed of a second direction opposite to the first direction around the first shaft, a third pitch sensor 211 for outputting a third detection signal showing an angular speed of the first direction around the first shaft, and a CPU 121 for detecting failure based on results of comparison between the first detection signal and the second detection signal, and identifying a failed sensor among the first to the third pitch sensors by using the first to the third detection signals.

Description

  The present invention relates to a failure detection device, a failure detection method, and a moving body, and more particularly to a failure detection device that detects a sensor failure, a failure detection method, and an inverted moving body using the same.

  The inverted moving body is provided with a gyro sensor for detecting the tilt angular velocity of the vehicle body (Patent Document 1). In patent document 1, in order to identify the failure of a control component in an inverted mobile body, the failure of a control component is compared with the output of another control component.

Special table 2003-517340 gazette JP 2004-301512 A JP 2004-286529 A

  Patent Document 2 discloses a method related to failure detection of an angular velocity sensor. In Patent Document 2, two gyro sensors are arranged on one axis and their outputs are compared. In the method of Patent Document 2, the two angular velocity sensors are arranged to face each other by 180 °. Then, a failure diagnosis is performed by comparing the sum signal of the two angular velocity sensors with a reference value.

Patent Document 3 discloses a method for determining a failure of a multi-axis gyro sensor. In this method, two gyro sensors are provided, and the angular velocities detected by the first and second gyro sensors are compared for each vertical component and horizontal component. However, these methods have a problem in that a failed angular velocity sensor cannot be specified.
Patent Document 4 includes

  The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a failure detection device, a failure detection method, and a moving body that can easily identify a broken angular velocity sensor.

  A failure detection device according to a first aspect of the present invention is a failure detection device that detects a failure of a sensor provided in an inverted moving body, and detects an angular velocity in a first direction around a first axis. A first angular velocity sensor that outputs a first detection signal; and a second detection signal that is provided on the first axis and indicates an angular velocity in a second direction opposite to the first direction around the first axis. Based on a comparison result between the second angular velocity sensor that outputs, the third angular velocity sensor that outputs the third detection signal indicating the angular velocity in the first direction around the first axis, and the first detection signal and the second detection signal. A failure is detected, and the failed angular velocity sensor among the first angular velocity sensor, the second angular velocity sensor, and the third angular velocity sensor is detected using the first detection signal, the second detection signal, and the third detection signal. And a determination unit to be identified. By doing in this way, the angular velocity sensor which failed can be specified simply.

  A failure detection device according to a second aspect of the present invention is the failure detection device described above, wherein the second angular velocity sensor detects an angular velocity in the same direction as the first angular velocity sensor, and inverts the detected angular velocity. By doing so, the second detection signal is output.

  A failure detection device according to a third aspect of the present invention is the failure detection device described above, wherein the first angular velocity sensor and the second angular velocity sensor are arranged to face each other.

  A failure detection device according to a fourth aspect of the present invention is the failure detection device described above, wherein the first detection signal from the first angular velocity sensor and the second detection signal from the second angular velocity sensor are input. It has a first processor and a second processor that receives a third detection signal from the third angular velocity sensor and can communicate with the first processor.

  A failure detection device according to a fifth aspect of the present invention is the failure detection device described above, wherein the failure detection device is provided on the first axis and is in a second direction opposite to the first direction around the first axis. A fourth angular velocity sensor for outputting a fourth detection signal indicating the angular velocity of the second processor to the second processor.

  A failure detection apparatus according to a sixth aspect of the present invention is the above-described failure detection apparatus, characterized in that the angular degree of independence about the first axis is a pitch angular velocity.

  An inverted moving body according to a seventh aspect of the present invention includes the above-described failure detection device, and detects an attitude using the first detection signal, the second detection signal, and the third detection signal.

  A failure detection method according to an eighth aspect of the present invention is a failure detection method for detecting a failure of a sensor provided in an inverted moving body, wherein the first angular velocity sensor is in a first direction around a first axis. The step of detecting the angular velocity and outputting a first detection signal and the second angular velocity sensor provided on the first axis in a second direction opposite to the first direction around the first axis Outputting a second detection signal indicating an angular velocity; outputting a third detection signal indicating an angular velocity in a first direction around the first axis by a third angular velocity sensor; and a first detection signal and a second A failure is detected based on a comparison result with the detection signal, and the first angular velocity sensor, the second angular velocity sensor, and the third angular velocity sensor are detected using the first detection signal, the second detection signal, and the third detection signal. Of these, the step that identifies the angular velocity sensor that has failed It is those with a flop, the.

  A failure detection method according to a ninth aspect of the present invention is the failure detection method described above, wherein the second angular velocity sensor detects an angular velocity in the same direction as the first angular velocity sensor and inverts the detected angular velocity. By doing so, the second detection signal is output.

  A failure detection method according to a tenth aspect of the present invention is the failure detection method described above, wherein the first angular velocity sensor and the second angular velocity sensor are arranged to face each other.

A failure detection method according to an eleventh aspect of the present invention is the failure detection method described above, wherein the first detection signal from the first angular velocity sensor and the second detection signal from the second angular velocity sensor are used as a first processor. And a third detection signal from the third angular velocity sensor is output to the second processor,
The first processor and the second processor communicate with each other to identify a malfunctioning angular velocity sensor.

  A failure detection method according to a twelfth aspect of the present invention is the failure detection method described above, wherein the failure detection method is provided on the first axis and is in a second direction opposite to the first direction around the first axis. The fourth angular velocity sensor outputs a fourth detection signal indicating the angular velocity of the second processor to the second processor.

  A failure detection method according to a thirteenth aspect of the present invention is the above-described failure detection method, characterized in that the angular degree of independence about the first axis is a pitch angular velocity.

  According to the present invention, it is possible to provide a failure detection device, a failure detection method, and an inverted moving body that can easily identify a failed sensor.

It is a block diagram which shows the basic system structure of a failure detection apparatus. It is a figure which shows arrangement | positioning of the 1st and 2nd pitch sensor in a failure detection apparatus. It is a figure which shows the specific example of arrangement | positioning of the 1st and 2nd pitch sensor in a failure detection apparatus. It is a figure which shows the specific example of arrangement | positioning of the 1st and 2nd pitch sensor in a failure detection apparatus. It is a figure which shows another example of arrangement | positioning of a sensor. It is a block diagram which shows the structure of the failure detection apparatus concerning Embodiment 1 of this invention. It is a figure which shows the specific structure of the sensor of the failure detection apparatus concerning Embodiment 1. FIG. It is a figure which shows the specific example of arrangement | positioning of the sensor of the failure detection apparatus concerning Embodiment 1. FIG. It is a figure which shows the signal waveform of the angular velocity detected with the sensor. It is a figure which shows the signal waveform of the angular velocity detected with the sensor. It is a block diagram which shows the structure of the failure detection apparatus concerning Embodiment 2 of this invention. It is a block diagram which shows the structure of the failure detection apparatus concerning Embodiment 3 of this invention. It is a block diagram which shows the structure of the failure detection apparatus concerning Embodiment 4 of this invention. It is a figure which shows an example of the inverted moving body which mounts a failure detection apparatus.

  Hereinafter, embodiments of a moving body 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.

(Basic system)
The basic system of the failure detection apparatus according to this embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing a basic configuration of the failure detection apparatus. As shown in FIG. 1, the failure detection apparatus system 100 includes a sensor unit 110, a CPU (Central Processing Unit) 121, and a motor 122. The sensor unit 110 is a gyro sensor, and is provided with a first pitch sensor 111, a second pitch sensor 112, a roll sensor 113, and a yaw sensor 114.

  The failure detection device is attached to an inverted moving body that moves by the inverted control. The failure detection device detects a failure of the first pitch sensor 111 and the second pitch sensor 112 provided in the sensor unit 110. The sensor unit 110 is a gyro sensor provided for measuring the pitch angular velocity, the roll angular velocity, and the yaw angular velocity to detect the posture or the like of the inverted moving body. Therefore, the system 100 of the failure detection apparatus includes a gyro sensor. Then, the CPU 121 controls the motor 122 in order to control the posture of the inverted moving body.

  The first pitch sensor 111 and the second pitch sensor 112 detect an angular velocity around the Y axis, that is, a pitch angular velocity. The roll sensor 113 detects an angular velocity around the X axis, that is, a roll angular velocity. The yaw sensor 114 detects an angular velocity around the Z axis, that is, a yaw angular velocity. For example, a vibration gyro can be used as the angular velocity sensor around each axis.

  A detection signal from the sensor unit 110 is input to the CPU 121. The CPU 121 outputs a command value to the motor 122 using a detection signal from the sensor unit 110 or an operation signal generated by a user operation. The motor 122 rotates according to the command value. When the motor 122 is driven, the wheels, joints, and the like of the moving body rotate. Thereby, the moving body is inverted and moved. The moving body is provided with a number of motors 122 corresponding to wheels, joints, and the like. For example, in the case of an inverted wheel type moving body having two coaxial wheels, two wheel motors 122 are provided.

  Here, as shown in FIG. 2, the first pitch sensor 111 and the second pitch sensor provided in the sensor unit 110 detect angular velocities in opposite directions around the Y axis. That is, the angular velocity detected by the first pitch sensor 111 and the angular velocity detected by the second pitch sensor 112 have the same absolute value and different signs. Here, a signal output from the first pitch sensor 111 is a first pitch signal, and a signal output from the second pitch sensor 112 is a second pitch signal. The first pitch signal indicates the angular velocity in one direction around the Y axis, and the second pitch signal indicates the angular velocity in the opposite direction around the Y axis.

  Specifically, as shown in FIG. 3, the first pitch sensor 111 and the second pitch sensor 112 are arranged to face each other so that they are back to back. That is, the first pitch sensor 111 and the second pitch sensor 112 are reversed 180 ° and arranged. By doing so, the second pitch signal becomes a signal obtained by inverting the first pitch signal.

  The CPU 121 compares the first pitch signal with the second pitch signal. Then, it is determined whether or not the sensor unit 110 has failed. When normal, the sum of the first pitch signal and the second pitch signal is 0, and when a failure occurs, the sum of the first pitch signal and the second pitch signal diverges. Therefore, the total value is compared with the threshold value. Alternatively, the total value is accumulated and the accumulated value is compared with a threshold value. Whether or not there is a failure can be determined based on the comparison result.

  When the sensor unit 110 is out of order, the operation of the inverted moving body is stopped. Even if it breaks down, the passenger can get off quickly. Furthermore, even if a failure occurs during boarding, the passenger can get off more safely.

In the above description, the first pitch sensor 111 and the second pitch sensor 112 are arranged back to back, but the arrangement of the sensors is not limited to this. Any signal may be used as long as the first pitch signal from the first pitch sensor 111 and the second pitch signal from the second pitch sensor 112 are inverted. Therefore, it is possible to electrically invert one pitch signal. In this case, as shown in FIG. 4, the first pitch sensor 111 and the second pitch sensor 112 are arranged in the same direction. Then, an inverter is provided in one output from the first pitch sensor 111 and the second pitch sensor 112. In this way, the second pitch sensor 112 outputs a second pitch signal that is inverted from the first pitch signal from the first pitch sensor 111.
Furthermore, another arrangement example of the sensor will be described with reference to FIG. FIG. 5 is a top view schematically showing the arrangement of the sensors. In FIG. 5, two pitch sensors and two roll sensors are arranged on the same plane. Sensor chips of the first pitch sensor 111 and the second pitch sensor 112 are arranged on the mounting surface of the substrate 230. Similarly, sensor chips of the first roll sensor 113 and the second roll sensor 116 are arranged on the mounting surface of the substrate 230.
The first pitch sensor 111 and the second pitch sensor 112 are the same type of sensor chip, and are arranged in a 180 ° inverted state on the mounting surface. Therefore, in FIG. 5, the position of the first pin of the first pitch sensor 111 (illustrated by a white circle in FIG. 5 for the description) is the upper left, and the position of the first pin of the second pitch sensor 112 is the lower right. ing. The detected pitch angular velocity ωx is inverted by the first pitch sensor 111 and the second pitch sensor 112, and the output detection signal is a value obtained by inverting the sign. A failure can be detected by adding the detection signals output from the first pitch sensor 111 and the second pitch sensor 112.
Similarly, the first roll sensor 113 and the second roll sensor 116 are the same type of sensor chip, and are arranged in a 180 ° inverted state on the mounting surface. Thereby, the roll angular velocity ωy detected by the first roll sensor 113 and the second roll sensor 116 is detected, and the output detection signal is a value obtained by reversing the sign. A failure can be detected by adding the detection signals output from the first roll sensor 113 and the second roll sensor 116.

Embodiment 1 FIG.
The failure detection apparatus according to this embodiment will be described with reference to FIG. FIG. 6 is a block diagram showing the overall configuration of the failure detection apparatus. In addition, about the content which overlaps with the content demonstrated by said basic system, description is abbreviate | omitted suitably. The failure detection apparatus includes a first system 100 and a second system 200. The first system 100 is provided with a first pitch sensor 111, a second pitch sensor 112, a roll sensor 113, a CPU 121, and a motor 122. The second system 200 is provided with a third pitch sensor 211, a fourth pitch sensor 212, a yaw sensor 214, a CPU 221, and a motor 222. The first system 100 has a configuration in which the yaw sensor 114 is removed from the system 100 shown in FIG. Further, the second system 200 has a configuration in which the roll sensor 113 is removed from the system 100 shown in FIG. Thus, three angular velocity sensors are provided in the sensor unit of each system.

  The CPU 121 and the CPU 221 perform failure detection in the same manner as the failure detection unit shown in FIG. Specifically, the CPU 121 performs failure detection based on the first pitch signal from the first pitch sensor 111 and the second pitch signal from the second pitch sensor 112. Thereby, it is determined whether or not the first pitch sensor 111 or the second pitch sensor 112 has failed. The CPU 221 performs failure detection based on the third pitch signal from the third pitch sensor 211 and the fourth pitch signal from the fourth pitch sensor 212. Thereby, it is determined whether the third pitch sensor 211 or the fourth pitch sensor 212 has failed.

  Further, the CPU 121 and the CPU 221 communicate with each other. For this reason, it is possible to specify which one of the first pitch sensor 111 to the fourth pitch sensor 212 has failed. That is, it is possible to detect which pitch sensor of the failed system has failed. For example, based on the total value of the first pitch signal and the second pitch signal, the CPU 121 detects that the first pitch sensor 111 or the second pitch sensor 112 has failed. In this case, the normal third pitch signal and the fourth pitch signal are compared with the first pitch signal and the second pitch signal. By doing so, it can be determined which of the first pitch signal and the second pitch signal indicates an abnormal pitch angular velocity. Thereby, the failed pitch sensor can be easily identified. The reliability of the gyro sensor can be improved. Furthermore, since the failed sensor is specified, the failure and replacement of the component can be performed promptly. Even at the time of failure, only the pitch angular velocity from a normal pitch sensor can be used for control. For this reason, even if a failure occurs, it is not necessary to stop the attitude control. Therefore, posture control can be continued and convenience can be improved.

  Note that the roll angular velocity and the yaw angular velocity communicate with each other between the CPU 121 and the CPU 221. As a result, angular velocities around three axes are input to the CPU 121 and the CPU 221, respectively. That is, the yaw signal from the yaw sensor 214 is input to the CPU 121, and the roll signal from the roll sensor 113 is input to the CPU 221. Therefore, each of the CPU 121 and the CPU 221 can detect the three-axis posture of the inverted moving body. The CPU 121 and the CPU 221 output a command value corresponding to the posture to the motor 122 and the motor 222.

  Next, an actual gyro sensor unit will be described with reference to FIG. As shown in FIG. 7, for example, six angular velocity sensors are attached to the substrate 230 or the like. A first pitch sensor 111, a second pitch sensor 112, a roll sensor 113, a first pitch sensor 211, a second pitch sensor 212, and a yaw sensor 214 are mounted on the substrate 230. At this time, as shown in FIG. 8, the first pitch sensor 111 and the third pitch sensor 211 are attached in the same direction. The second pitch sensor 112 and the second pitch sensor 212 are attached to the first pitch sensor 111 and the third pitch sensor 211 in opposite directions. Thereby, the first pitch sensor 111 and the third pitch sensor 211 detect the angular velocity in the forward rotation direction around the Y axis, and the second pitch sensor 112 and the fourth pitch sensor 212 are detected as the Y axis. Detect the angular velocity of the surrounding reversal direction. Thereby, the angular velocity in both directions around the Y axis can be easily detected. Of course, all the pitch sensors may be arranged in the same direction to electrically invert the second detection signal and the fourth detection signal.

  Next, the waveform of the detection signal output from the sensor unit will be described with reference to FIGS. 9 and 10. FIG. 9 is a diagram illustrating a waveform of a detection signal in the first system 100, and FIG. 10 is a diagram illustrating a waveform of the detection signal in the second system 200. Here, a measurement result is shown when a rotation is applied such that the first pitch signal Pitch1 and the third pitch signal Pitch3 are positive. In the normal state, as shown in FIG. 9, the first pitch signal Pitch1 and the second pitch signal Pitch2 have inverted waveforms. Similarly, when normal, as shown in FIG. 10, the third pitch signal Pitch3 and the fourth pitch signal Pitch4 have inverted waveforms. At the time of abnormality, this relationship is broken. That is, when a failure occurs on the first system 100 side, the inverted waveforms of the first pitch signal Pitch1 and the second pitch signal Pitch2 are broken. On the other hand, when a failure occurs on the second system 200 side, the inverted waveforms of the third pitch signal Pitch3 and the fourth pitch signal Pitch4 are lost.

  Therefore, the first pitch signal Pitch1 and the second pitch signal Pitch2 are compared to detect an abnormality in the first system 100. Similarly, the third pitch signal Pitch3 and the fourth pitch signal Pitch4 are compared to detect an abnormality in the second system 200. Thereby, a failure can be detected promptly. Further, when a failure is detected, the first system 100 and the second system 200 communicate with each other, and the pitch signal from the pitch sensor of the failed system and the pitch signal from the pitch sensor of the non-failed system are transmitted. Compare. By doing so, a faulty pitch sensor can be identified. For example, the first pitch signal Pitch1 and the third pitch signal Pitch3 are compared, and the second pitch signal Pitch2 and the fourth pitch signal Pitch4 are compared. As described above, the malfunctioning pitch sensor can be specified by using the first to fourth pitch signals.

  In the present embodiment, the failure of the pitch sensor that is most important for the inversion control can be identified with a small number of elements. Thereby, safety can be further improved with a simple configuration. That is, even when one pitch sensor fails, the pitch sensor can be specified. Therefore, if other pitch sensors are used, special control for ensuring safety is unnecessary. Of course, a plurality of roll sensors and yaw sensors may be provided to identify a malfunctioning sensor. Thereby, reliability can be improved.

Embodiment 2. FIG.
A failure detection system according to the present embodiment will be described with reference to FIG. As shown in FIG. 11, each of the first system 100 and the second system 200 has three pitch sensors. The three pitch sensors provided in the first system 100 are referred to as a first pitch sensor 111, a second pitch sensor 112, and a fifth pitch sensor 115. Similarly, the three pitch sensors provided in the second system 200 are referred to as a third pitch sensor 211, a fourth pitch sensor 212, and a sixth pitch sensor 215. By providing three pitch sensors in each system, each of the CPU 121 and the CPU 221 can detect a sensor failure. In other words, the failed pitch sensor can be identified without mutual communication between the CPU 121 and the CPU 221. Moreover, since the pitch sensor which failed can be specified in each system, reliability can be improved.

  For example, one pitch signal of the first pitch sensor 111 and the second pitch sensor 112 is electrically inverted to obtain a sum value of the two pitch signals. Similarly, one pitch signal of the second pitch sensor 112 and the fifth pitch sensor 115 is electrically inverted to obtain a sum value of the two pitch signals. Further, one pitch signal of the fifth pitch sensor 115 and the first pitch sensor 111 is electrically inverted to obtain a sum value of the two pitch signals. When one pitch sensor fails, two total values diverge among three total values. The CPU 121 determines that the pitch sensor common to the two diverged sum values has failed. In other words, it is specified that the two pitch sensors corresponding to the undiverged sum value are normal pitch sensors and the other pitch sensors are in failure. Thus, by installing three pitch sensors in the first system 100, it is possible to identify the pitch sensor in which the CPU 121 has failed. Similarly, the CPU 221 can specify a failed pitch sensor from the three pitch signals. As described above, the pitch signals from the three pitch sensors are compared with each other, whereby the failed pitch sensor can be specified. Of course, also in this embodiment, a roll sensor and a yaw sensor may be provided in the gyro sensor unit.

Embodiment 3 FIG.
The failure detection apparatus according to this embodiment will be described with reference to FIG. In the failure detection apparatus according to the present embodiment, a first system 100 having three pitch sensors is provided as in the first system 100 shown in the second embodiment. Here, similarly to the first system 100 of the second embodiment, the three pitch sensors are a first pitch sensor 111, a second pitch sensor 112, and a fifth pitch sensor 115. Further, in the present embodiment, in addition to the first system 100 shown in the second embodiment, a CPU 131 and a motor 132 are provided. CPU 121 outputs a command value to motor 122, and CPU 131 outputs a command value to motor 132. That is, in the present embodiment, the failure detection device is applied to a configuration in which command values are output to the two motors 122 and 132 in one system. In addition, about the content which overlaps said description, description is abbreviate | omitted suitably.

  Pitch signals from the first pitch sensor 111 and the second pitch sensor 112 are input to the CPU 121. A pitch signal from the fifth pitch sensor 115 is input to the CPU 131. The first pitch signal from the first pitch sensor 111 is inverted with respect to the second pitch signal from the second pitch sensor 112. Therefore, a failure of the first pitch sensor 111 and the second pitch sensor 112 can be detected. Further, the CPU 121 and the CPU 131 communicate with each other. Therefore, at least one of the CPU 121 and the CPU 132 compares the fifth pitch signal from the fifth pitch sensor 115 with the first pitch signal and the second pitch signal. Therefore, the faulty pitch sensor can be specified. That is, by using the pitch signals from the three pitch sensors, the faulty pitch sensor can be specified.

  For example, when the sum of the first pitch signal and the second pitch signal diverges, a failure of the first pitch sensor 111 or the second pitch sensor 112 is detected. Each of the first pitch signal and the second pitch signal is compared with the fifth pitch signal from the normal fifth pitch sensor 115. By doing so, it is possible to specify which of the first pitch sensor 111 and the second pitch sensor 112 has failed. If the sum of the first pitch signal and the second pitch signal is not diverging, the fifth pitch signal is compared with each of the first pitch signal and the second pitch signal. Thereby, it can be determined whether the fifth pitch signal is normal. When an abnormality of the fifth pitch signal is detected, it is determined that the fifth pitch sensor 115 has failed. As described above, the pitch signals from the three pitch sensors are compared with each other, whereby the failed pitch sensor can be specified. Therefore, the number of pitch sensors can be reduced.

Embodiment 4 FIG.
The failure detection apparatus according to this embodiment will be described with reference to FIG. In the failure detection apparatus according to the present embodiment, a first system 100 and a second system 200 are provided. Then, each of the first system 100 and the second system 200 is provided with six sensors. That is, two sensors for each axis are provided in each of the first system 100 and the second system 200. And while detecting the failure of the sensor around each axis, the failed sensor is specified. In addition, about the content which overlaps said description, description is abbreviate | omitted suitably.

  The first system 100 includes a first pitch sensor 111, a second pitch sensor 112, a first roll sensor 113, a second roll sensor 116, a first yaw sensor 114, and a second yaw sensor 117. Is provided. The second system 200 includes a third pitch sensor 211, a fourth pitch sensor 212, a third roll sensor 213, a fourth roll sensor 216, a third yaw sensor 214, and a fourth A yaw sensor 217 is provided. Therefore, the second roll sensor 116, the first yaw sensor 114, the second yaw sensor 117, the third roll sensor 213, the fourth roll sensor 216, and the second roll sensor 116 are compared with the configuration of the first embodiment. 4 yaw sensor 217 is added.

  Thus, the first system 100 has two angular velocity sensors for each axis. Thereby, the failure of each speed sensor of each axis can be detected. In other words, as described above, it is possible to detect a failure of the pitch sensor by inverting one of the two pitch signals and adding together. Similarly, a roll sensor failure can be detected by inverting the roll signal from one of the first roll sensor 113 and the second roll sensor 116 and adding them up. Furthermore, a yaw sensor failure can be detected by inverting the yaw signals from one of the first yaw sensor 114 and the second yaw sensor 117 and adding them together. Similarly, in the second system 200, failure detection is performed.

  Further, the CPU 121 of the first system 100 and the CPU 221 of the second system 200 communicate with each other. By doing so, a failed sensor can be identified. As described above, by comparing the pitch signal in the first system 100 and the pitch signal in the second system 200, the failed pitch sensor can be identified. Similarly, by comparing the roll signal in the first system 100 and the roll signal in the second system 200, a faulty pitch sensor can be identified, and the yaw signal in the first system 100 and the second By comparing the yaw signals in the system 200, a faulty yaw sensor can be identified.

  In this way, by arranging six sensors in each system, it is possible to detect a sensor failure for each axis. In addition, the two systems can communicate with each other to identify a failed sensor for each of the three axes.

As described above, the failure detection device according to the embodiment of the present invention detects a failure of the gyro sensor provided in the inverted moving body. The failure detection device includes a first angular velocity sensor that detects an angular velocity in a first direction around the first axis and outputs a first detection signal, and a first angular velocity sensor that is provided on the first axis. A second angular velocity sensor that outputs a second detection signal indicating an angular velocity in a second direction opposite to the first direction around the first axis, and an angular velocity in the first direction around the first axis. And a third angular velocity sensor that outputs a third detection signal. The failure detection device detects a failure based on a comparison result between the first detection signal and the second detection signal, and uses the first detection signal, the second detection signal, and the third detection signal to detect the first detection signal. A determination unit that identifies a broken angular velocity sensor among the angular velocity sensor, the second angular velocity sensor, and the third angular velocity sensor is provided. The determination unit can be a processor such as a CPU.

  In the failure detection apparatus, two pitch sensors may be arranged symmetrically to output a positive pitch signal and a negative pitch signal. Alternatively, the pitch signal may be electrically inverted to output a positive pitch signal and a negative pitch signal. Further, these may be combined to output a positive pitch signal and a negative pitch signal.

  The failure detection apparatus according to the present embodiment is suitable for an inverted moving body, particularly a boarding type moving body. For example, it is preferable that a passenger can get off safely even when an abnormality occurs in an inverted moving body. In the case of an inverted moving body, it is necessary to promptly detect a failure of the gyro sensor due to instability in the mechanism. By using the above failure detection device, a failure can be detected promptly. Furthermore, in the present embodiment, a faulty pitch sensor is specified. Therefore, even when one pitch sensor fails, the operation can be stabilized by using a pitch signal from another pitch sensor. In the above description, the pitch sensor failure is detected, but a failure of only the roll sensor or only the yaw sensor may be detected. Or you may make it detect the failure of the sensor of all the axes among 3 axes, or the sensor of 2 axes.

  FIG. 14 is a diagram illustrating an inverted moving body having a failure detection device. As shown in FIG. 1, the inverted moving body 300 includes a wheel 301, a platform 302, a handle 303, and a grip 304, and conveys a user 305. Such a two-wheel inverted robot is typical of an inverted moving body. The user 305 operates the handle 303 to accelerate or decelerate. The platform 302 houses a failure detection device 306 that detects a failure of the gyro sensor.

  For example, the failure detection apparatus according to the first embodiment is mounted on the platform 302. The pitch angular velocity is detected by the pitch sensor 111, the pitch sensor 112, the pitch sensor 211, and the pitch sensor 212. Thereby, the inclination angle of the platform 302 can be detected, and the posture can be detected. Then, in order to control the left and right wheels 301, the motor 122 and the motor 222 are driven. Thereby, the driving force of the motor 122 and the motor 222 is applied to the wheel 301. Therefore, the left and right wheels 301 rotate, and the inverted moving body 300 is controlled to be inverted. The inverted moving body 300 moves according to the handle operation of the user 305. Of course, the posture may be detected using the roll angular velocity and the yaw angular velocity, and the control may be performed according to the posture. Furthermore, the configuration of the moving body on which the failure detection device is mounted is not particularly limited. For example, a mobile body having a boarding seat on which a user sits may be used. Furthermore, it is not limited to a wheel-type moving body, and may be a legged moving body.

  The above first to fourth embodiments may be used in appropriate combination. The above description describes the embodiment of the present invention, and the present invention is not limited to the above embodiment. Further, those skilled in the art can easily change, add, and return each element of the above-described embodiment within the scope of the present invention.

100 First system 111 Pitch sensor 112 Pitch sensor 113 Roll sensor 114 Yaw sensor 115 Pitch sensor 116 Roll sensor 117 Yaw sensor 121 CPU
122 motor 200 first system 211 pitch sensor 212 pitch sensor 213 roll sensor 214 yaw sensor 215 pitch sensor 216 roll sensor 217 yaw sensor 221 CPU
222 Motor 300 Inverted moving body 301 Wheel 302 Platform 303 Handle 304 Grip 305 User 306 Failure detection device

Claims (13)

A failure detection device that detects a failure of a sensor provided in an inverted moving body,
A first angular velocity sensor that detects an angular velocity in a first direction around the first axis and outputs a first detection signal;
A second angular velocity sensor provided on the first axis and outputting a second detection signal indicating an angular velocity in a second direction opposite to the first direction around the first axis;
A third angular velocity sensor that outputs a third detection signal indicating an angular velocity in a first direction around the first axis;
A failure is detected based on a comparison result between the first detection signal and the second detection signal, and the first angular velocity sensor and the second angular velocity sensor are detected using the first detection signal, the second detection signal, and the third detection signal. And a determination unit that identifies a broken angular velocity sensor among the third angular velocity sensors.   2. The failure detection device according to claim 1, wherein the second angular velocity sensor detects an angular velocity in the same direction as the first angular velocity sensor and outputs the second detection signal by inverting the detected angular velocity. .   The failure detection device according to claim 1, wherein the first angular velocity sensor and the second angular velocity sensor are arranged to face each other. A first processor to which a first detection signal from the first angular velocity sensor and a second detection signal from a second angular velocity sensor are input;
4. The failure detection device according to claim 1, further comprising: a second processor that receives a third detection signal from the third angular velocity sensor and can communicate with the first processor. 5.   A fourth angular velocity sensor provided on the first axis and outputting a fourth detection signal to the second processor indicating an angular velocity in a second direction opposite to the first direction around the first axis; The failure detection device according to any one of claims 1 to 4.   6. The failure detection device according to claim 1, wherein angular angularity about the first axis is a pitch angular velocity. Comprising the failure detection device according to any one of claims 1 to 6,
An inverted moving body that detects a posture using the first detection signal, the second detection signal, and the third detection signal. A failure detection method for detecting a failure of a sensor provided in an inverted moving body,
A first angular velocity sensor detecting an angular velocity in a first direction around the first axis and outputting a first detection signal;
Outputting a second detection signal indicating an angular velocity in a second direction opposite to the first direction around the first axis by a second angular velocity sensor provided on the first axis;
Outputting a third detection signal indicating an angular velocity in a first direction around the first axis by a third angular velocity sensor;
A failure is detected based on a comparison result between the first detection signal and the second detection signal, and the first angular velocity sensor and the second angular velocity sensor are detected using the first detection signal, the second detection signal, and the third detection signal. And a step of identifying a malfunctioning angular velocity sensor among the third angular velocity sensors.   The failure detection method according to claim 8, wherein the second angular velocity sensor detects an angular velocity in the same direction as the first angular velocity sensor, and outputs the second detection signal by inverting the detected angular velocity. .   The failure detection method according to claim 8, wherein the first angular velocity sensor and the second angular velocity sensor are arranged to face each other. Outputting a first detection signal from the first angular velocity sensor and a second detection signal from the second angular velocity sensor to the first processor;
Outputting a third detection signal from the third angular velocity sensor to the second processor;
The failure detection method according to any one of claims 8 to 10, wherein a faulty angular velocity sensor is specified by the first processor and the second processor communicating with each other.   The fourth angular velocity sensor outputs a fourth detection signal provided on the first axis and indicating an angular velocity in a second direction opposite to the first direction around the first axis to the second processor. The failure detection method according to any one of 8 to 11.   The failure detection method according to any one of claims 8 to 12, wherein the angular degree of independence about the first axis is a pitch angular velocity.

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