JP2014144730A - Transfer apparatus and control method and program for the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a transfer apparatus which allows a user to transport safely by gripping a handle of a movable body, a method of controlling the transfer apparatus and a program for controlling the transfer apparatus.SOLUTION: A transfer apparatus 1 has an actuator 2 which generates a torque to be imparted to a wheel 5 according to the inclination of a handle 6 attached to a carriage 3. A control command computing portion 13 calculates a control command which directs the magnitude of a torque to be generated by the actuator 2 according to the inclination of the handle 6. A resistance force estimation portion 15 detects the torque generated by the actuator 2 and estimates a resistance force which the handle 6 applies to the user by computation using the detected torque and various parameters for the transfer apparatus 1. A control command correction portion 14 creates a corrected control command by reducing the control command, on the basis of the resistance force and a specified gain, and inputs the corrected command to the actuator 2.

Description

  The present invention relates to a moving device, a moving device control method, and a program, and more particularly, to a moving device that controls a torque applied to a wheel according to a tilt of a handle provided in the moving device, a moving device control method, and a program.

  A mobile device having an inverted two-wheel control is heavy, and it is difficult for a user to carry a mobile device without a rider. Therefore, in recent years, a mobile device that generates a control command for a wheel according to a user input and travels while maintaining an inverted state has been widely used. The user carries the mobile device by operating the handle of the mobile device (for example, tilting in the front-rear direction) to control the speed and the traveling direction.

  For example, Patent Literature 1 discloses a technique related to torque control in a moving device by a user operating a handle while maintaining an inverted state.

US 2004/0011573 A1 Specification

  The general mobile device described above calculates a control command in accordance with an input (that is, a steering operation) by a user. The moving device moves by applying torque to the wheels according to the control command. Here, if the user performs a wrong handle operation, a large force may be generated on the handle held by the user. In this case, there has been a problem that it becomes difficult for the user holding the handle to safely carry the moving device.

  Therefore, the present invention has been made in view of the above problems, and provides a moving device, a moving device control method, and a program that allow a user to grip the handle of the moving device and carry it safely. The main purpose.

A moving device according to an embodiment of the present invention is a moving device that includes an actuator that generates a torque to be applied to a wheel according to the inclination of a handle attached to a carriage, and that assists the user in transporting the vehicle. A control command calculation unit for calculating a control command for instructing a torque amount generated by the actuator according to an inclination, a torque generated by the actuator is detected, and the detected torque and various parameters of the moving device are used. A resistance force estimation unit that estimates a resistance force that the handle gives to the user by calculation, and a control command that generates a correction control command that reduces the control command based on the resistance force and a predetermined gain and inputs the corrected control command to the actuator And a correction unit.
With such a configuration, the user can safely board the mobile device without requiring high skill.

The control command correction unit calculates the correction control command by subtracting a value calculated by multiplying the resistance force and the predetermined gain from the control command, and the predetermined gain is greater than 0 and 1 It is desirable to be smaller.
Thereby, the situation where the moving apparatus 1 moves in a stationary state and the resistance force increases can be avoided.

  The predetermined gain is preferably a value calculated by sensory evaluation of the moving device.

The control command calculation unit selects one table from a plurality of tables indicating a relationship between the handle inclination and the control command in response to an input related to a user's dead zone, and outputs the control command according to the selected table. It is desirable to calculate.
Accordingly, the user can freely select the size of the dead zone and control the moving device.

A method of controlling a moving device according to an embodiment of the present invention is a method of controlling a moving device that includes an actuator that generates torque to be applied to a wheel according to the inclination of a handle attached to a carriage, and that assists transportation by a user. A control command calculating step for calculating a control command for instructing a torque amount generated by the actuator in accordance with a tilt of the handle; detecting a torque generated by the actuator; and detecting the detected torque and the moving device A resistance force estimation step for estimating a resistance force applied to the user by the handle by calculation using various parameters, and a correction control command in which the control command is reduced based on the resistance force and a predetermined gain, A control command correcting step for inputting to the actuator.
With such a configuration, the user can safely board the mobile device without requiring high skill.

A program according to an embodiment of the present invention is a control program for a mobile device that includes an actuator that generates torque to be applied to a wheel according to the inclination of a handle attached to a carriage, and that assists the user in transporting the computer. And a control command calculation step for calculating a control command for instructing a torque amount generated by the actuator in accordance with a tilt of the handle, a torque generated by the actuator is detected, and the detected torque and various types of the moving device are detected. A resistance force estimation step for estimating a resistance force applied to the user by the handle by calculation using a parameter; and a modified control command for reducing the control command based on the resistance force and a predetermined gain to generate the actuator The control command correction step to be input to is executed.
With such a configuration, the user can safely board the mobile device without requiring high skill.

  In the present invention, it is possible to provide a mobile device, a control method for the mobile device, and a program that can safely board without requiring a high level of skill.

It is a figure which shows the external appearance structure of the moving apparatus 1 concerning Embodiment 1. FIG. 1 is a block diagram showing a configuration of a control system 10 provided in a moving apparatus 1 according to a first embodiment. 3 is a table showing a relationship between a pitch angle (inclination of the handle 6) and a torque command (control command) according to the first embodiment. FIG. 3 is a conceptual diagram showing a dead zone of the mobile device 1 according to the first embodiment. 3 is a table showing a relationship between a pitch angle (inclination of the handle 6) and a torque command (control command) according to the first embodiment. 3 is a table showing a relationship between a pitch angle (inclination of the handle 6) and a torque command (control command) according to the first embodiment. 3 is a table showing a relationship between a pitch angle (an inclination of the handle 6) and an angular velocity command (control command) according to the first embodiment. 3 is a flowchart showing a flow of control command correction processing by the mobile device 1 according to the first embodiment;

<Embodiment 1>
Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram illustrating an external configuration of a moving device according to the present embodiment. The moving device 1 includes an actuator 2, a carriage 3, a sensor 4, a pair of wheels 5 (5R and 5L), and a handle 6. The inclination of the carriage 3 with respect to the horizontal plane (ground) changes according to the user's operation of the handle 6. The torque applied to the wheel 5 by the actuator 2 is controlled in accordance with the change in the inclination of the carriage 3 with respect to the horizontal plane (ground) (that is, the inclination of the handle 6). Hereinafter, each component will be described in detail.

  The actuator 2 generates torque to be applied to the wheels 5R and 5L. For example, the actuator 2 is an electric motor. The actuator 2 applies to the wheels 5R and 5L torque according to a correction control command calculated by the control system 10 described later.

  The cart 3 is, for example, a plate-shaped housing on which a moving device is loaded. In addition, the shape of the trolley | bogie 3 may be arbitrary shapes. One end of the handle 6 is connected to the front portion of the carriage 3 and the other end is arranged extending in the vertical direction. The user controls the operation of the moving device 1 by gripping and operating the other end of the handle 6. That is, the user can tilt the carriage 3 by gripping and tilting the handle 6.

  The sensor 4 is a well-known tilt detection unit that detects the tilt of the carriage 3. The sensor 4 is configured using a general sensor device such as an acceleration sensor or a gyro sensor. As shown in FIG. 1, the axis extending forward of the moving direction of the moving device 1 is a roll axis, the axis extending leftward of the moving device 1 is a pitch axis, and the axis extending upward in the vertical direction of the moving device 1 is a yaw axis. And In this case, the sensor 4 detects the inclination of the handle 6 around the pitch axis (that is, the inclination angle of the carriage 3 around the roll axis).

  The wheels 5R and 5L are arranged on the side surface of the carriage 3 and are provided coaxially. The wheels 5 </ b> R and 5 </ b> L are rotated by receiving torque applied from the actuator 2. Note that the moving device 1 may include not only a circular wheel as illustrated, but also a wheel having a shape that can be seen in a crawler or the like. In other words, the moving device 1 may be configured to move according to the torque generated by the actuator 2.

  The moving device 1 is provided with input means such as a switch (not shown). The user can execute various input processes for the mobile device 1 by controlling these switches and the like. For example, the user can specify the change of the operation mode of the mobile device 1 by pressing the switch. The moving device 1 also has a control system 10 (not shown in FIG. 1) that controls the moving device 1. The control system 10 includes a general arithmetic device having, for example, a CPU (Central Processing Unit) and a storage device (RAM (Random Access Memory), ROM (Read Only Memory), etc.).

  Next, the configuration of the control system 10 provided in the moving apparatus 1 will be described with reference to FIG. FIG. 2 is a block diagram illustrating a conceptual configuration of a control system provided in the mobile device 1. The control system 10 includes a control selection determination unit 11, an attitude calculation unit 12, a control command calculation unit 13, a control command correction unit 14, a resistance force estimation unit 15, and a drive unit 16.

  The control selection determination unit 11 determines selection of the control mode of the mobile device 1 according to control of a switch (not shown) by the user. The control mode includes, for example, a normal mode and a standby mode. The posture calculation unit 12 calculates the tilt of the handle 6 (that is, the tilt of the carriage 3) from the data detected by the sensor 4. The method of calculating the tilt of the handle 6 by the posture calculation unit 12 may be any method generally used in the field of small mobile mobility.

  The control command calculation unit 13 calculates a control command to be given to the actuator 2 from the inclination of the handle 6 calculated by the posture calculation unit 12. The control command is a command for instructing the magnitude of torque generated by the actuator 2. A method for calculating the control command will be described with reference to FIG. FIG. 3 is a table that the control command calculation unit 13 refers to when calculating the control command. The table holds the relationship between the pitch angle (tilt of the handle 6) and the torque command (control command). In FIG. 3, an angle (degree) corresponding to the pitch angle (radian) is also shown. FIG. 3 also shows the speed of the moving device 1 corresponding to the torque command for reference. The control command calculation unit 13 calculates a torque command corresponding to the inclination of the handle 6 calculated by the posture calculation unit 12, that is, the pitch angle, from the table, and supplies the calculated torque command to the control command correction unit 14. For example, when the pitch angle is “−0.5410 (rad)”, the control command calculation unit 13 supplies “−1.2000” as the torque command to the control command correction unit 14.

  The control command calculation unit 13 may switch the table to be used according to the selection of the size of the dead zone by the user. First, the dead zone will be described with reference to FIG. FIG. 4 is a conceptual diagram showing the relationship between the schematic diagram of the mobile device 1 and the dead zone. The dead zone is a region where the actuator 2 does not generate torque. As shown in the figure, the control command calculation unit 13 is in a state belonging to the dead zone when the moving device 1 is close to an inverted position or when the handle 6 has a large inclination. That is, the control command calculation unit 13 performs control so that the actuator 2 does not generate torque when the moving device 1 is nearly inverted or when the steering wheel has a large inclination.

  The user controls the size of the dead zone by operating a switch (not shown). FIG. 5 is a table showing the relationship between the pitch angle and the torque command when the dead zone is increased. As shown in the drawing, the angle region (the arrow portion in the figure, −30 ° to −0 °) where the speed is 0 (km / h) is the angle region (the arrow portion in the drawing) shown in FIG. Greater than −20 ° to −10 °). On the other hand, FIG. 6 is a table showing the relationship between the pitch angle and the torque command when the dead zone is reduced. As shown in the figure, the angle region (arrow portion in the figure, −16 ° to −14 °) where the speed is 0 (km / h) is the angle region (arrow portion in the drawing) shown in FIG. Smaller than −20 ° to −10 °).

  The control command calculation unit 13 may output an angular velocity command instead of a torque command as a control command. FIG. 7 is a diagram illustrating an example of a table referred to when an angular velocity command is output as a control command. The control command calculation unit 13 calculates an angular velocity command by the same method and supplies it to the control command correction unit 14. In the following description, the control command calculation unit 13 outputs a torque command.

  Refer to FIG. 2 again. The resistance estimating unit 15 detects torque generated in the actuator 2. For example, the resistance estimation unit 15 detects torque from the current value generated by the actuator 2. Then, the resistance force estimation unit 15 estimates the resistance force that the handle 6 pushes the user in consideration of the friction element. Specifically, the resistance force estimation unit 15 estimates the resistance force f using the following (Equation 1). As shown in (Formula 1), the resistance specifying unit 15 calculates the resistance f using various parameters (tire radius, vehicle weight, etc.) relating to the moving device 1. The resistance force estimation unit 15 supplies the calculated resistance force estimation value f to the control command correction unit 14.

  The control command correction unit 14 corrects the control command calculated by the control command calculation unit 13 using the estimated resistance value f calculated by the resistance estimation unit 15. Specifically, the control command correction unit 14 calculates a correction control command using the following calculation formula (Formula 2). The control command correction unit 14 supplies the calculated correction control command to the drive unit 16. The correction control command is a command for instructing the magnitude of the torque finally generated by the actuator 2. The actuator 2 adjusts the torque to be generated according to the correction control command and drives the wheel 5.

Adjusting gain _{K a} as described above, it is set in a range 0 _<K a <1 in. Thereby, it is possible to avoid a situation in which the moving device 1 moves in a stationary state or the resistance force increases (that is, the force with which the handle 6 pushes the user is increased).

Adjustment gain K _a described above, it is preferable to set according to the sensory evaluation. More specifically, a plurality of users are operated on the mobile device 1 and set to an optimum value according to the evaluation (ease of operation). Since the different whether sense or can safely operate the mobile device 1 for each user, may be changed appropriately adjusted gain K _a according to the control of the switch (not shown).

  The drive unit 16 is a processing unit that controls the actuator 2. The drive unit 16 performs control (for example, software control) such that the actuator 2 generates torque according to the correction control command supplied from the control command correction unit 14. The drive unit 16 can appropriately control a reduction gear train connected to the rotation shaft of the actuator 2 so that power can be transmitted, a counter for detecting the number of rotations of the wheels 5, and the like.

Next, a control command correction process by the mobile device 1 will be described with reference to FIG. FIG. 8 is a flowchart showing a flow of control command correction processing by the mobile device 1.
After the power of the mobile device 1 is turned on, the mobile device 1 detects the ON state of a switch indicating that the control command correction process is performed (S101). Thereafter, the posture calculation unit 12 calculates the inclination of the handle 6 (that is, the inclination and pitch angle of the carriage 3) from the data detected by the sensor 4 (S102).

  The control command calculation unit 13 calculates a control command from the tilt (pitch angle) of the handle 6 calculated by the posture calculation unit 12 by calculation using the above-described table (FIG. 3 and the like) (S103). In parallel with the process of S103, the resistance force estimation unit 15 estimates the resistance force with which the handle 6 pushes the user from the torque generated in the actuator 2 (S104). The estimation process of the resistance force is performed, for example, by calculation using the above (Equation 1).

  The control command correction unit 14 corrects the control command calculated by the control command calculation unit 13 using the estimated resistance value calculated by the resistance force estimation unit 15 (S105). The control command is corrected by, for example, calculation using the above (Equation 2). The drive unit 16 adjusts the torque generated by the actuator 2 using the calculated correction control command.

  Then, the effect of the moving apparatus 1 concerning this Embodiment is demonstrated. As described above, the moving device 1 corrects the control command calculated by operating the handle 6 in accordance with the estimated resistance value. Thereby, the force with which the handle 6 of the moving device 1 pushes the user can be reduced. By reducing the force with which the handle 6 pushes the user, the user can safely carry the mobile device 1.

Specifically, as described above, by setting the adjustment gain K _a in the range of 0 <K _a <1, the control command correction unit 14 can reliably reduce the force with which the handle 6 pushes the user. Thereby, the user can carry the mobile device 1 safely.

Adjustment gain K _a is set to a value determined according to the sensory evaluation in the range 0 <K a _<1 in. As described above, sensory evaluation is evaluation performed by many users operating the moving device 1. Thereby, vehicle control which many users feel safe can be realized.

  The processing of the control system 10 (the control selection determination unit 11, the posture calculation unit 12, the control command calculation unit 13, the control command correction unit 14, the resistance force estimation unit 15, and the drive unit 16) is performed by the CPU according to a program. It may be executed in the form. The program may be stored using various types of non-transitory computer readable media and supplied to a computer. Non-transitory computer readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (for example, flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (for example, magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / W and semiconductor memory (for example, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (random access memory)) are included. The program may also be supplied to the computer by various types of transitory computer readable media. Examples of transitory computer readable media include electrical signals, optical signals, and electromagnetic waves. The temporary computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire and an optical fiber, or a wireless communication path.

  The cart 3 may be a plate-shaped housing on which a heavy object or the like is loaded. In this case, the user operates the handle 6 near the moving device 1 to move the moving device 1 and carry the load placed on the carriage 3. That is, the moving device 1 can assist the user to carry the load placed on the carriage 3.

  As mentioned above, the invention made by the present inventor has been specifically described based on the embodiment. However, the present invention is not limited to the embodiment, and various modifications can be made without departing from the scope of the invention. Needless to say.

DESCRIPTION OF SYMBOLS 1 Moving apparatus 2 Actuator 3 Carriage 4 Sensor 5 (5R, 5L) Wheel 6 Handle 10 Control system 11 Control selection determination part 12 Attitude calculation part 13 Control command calculation part 14 Control command correction part 15 Resistance force estimation part 16 Drive part

Claims (6)

A moving device that includes an actuator that generates torque to be applied to a wheel according to the inclination of a handle attached to a carriage, and that assists transportation by a user,
A control command calculation unit for calculating a control command for instructing the magnitude of torque generated by the actuator according to the inclination of the handle;
A resistance force estimation unit that detects torque generated by the actuator, and estimates a resistance force that the handle gives to the user by calculation using the detected torque and various parameters of the moving device;
A control command correction unit that generates a correction control command in which the control command is reduced based on the resistance force and a predetermined gain and inputs the correction control command to the actuator;
A mobile device comprising: The control command correction unit is
Calculating the corrected control command by subtracting a value calculated by multiplying the resistance force and the predetermined gain from the control command;
The moving device according to claim 1, wherein the predetermined gain is larger than 0 and smaller than 1.   The moving device according to claim 2, wherein the predetermined gain is a value calculated by sensory evaluation of the moving device. The control command calculator is
Selecting one table from a plurality of tables indicating the relationship between the steering wheel tilt and the control command in response to an input relating to a user's dead zone, and calculating the control command according to the selected table. The moving apparatus according to any one of claims 1 to 3. A method of controlling a moving device that includes an actuator that generates torque to be applied to a wheel according to the inclination of a handle attached to a carriage, and that assists transportation by a user,
A control command calculation step for calculating a control command for instructing the magnitude of torque generated by the actuator according to the inclination of the handle;
A resistance force estimating step of detecting a torque generated by the actuator, and estimating a resistance force that the handle gives to the user by calculation using the detected torque and various parameters of the moving device;
A control command correction step of generating a correction control command in which the control command is decreased based on the resistance force and a predetermined gain and inputting the correction control command to the actuator;
A method for controlling a mobile device comprising: A control program for a moving device that includes an actuator that generates torque to be applied to a wheel according to a tilt of a handle attached to a carriage, and that assists transportation by a user,
On the computer,
A control command calculation step for calculating a control command for instructing the magnitude of torque generated by the actuator according to the inclination of the handle;
A resistance force estimating step of detecting a torque generated by the actuator, and estimating a resistance force that the handle gives to the user by calculation using the detected torque and various parameters of the moving device;
A control command correction step of generating a correction control command in which the control command is decreased based on the resistance force and a predetermined gain and inputting the correction control command to the actuator;
A program that executes

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