JP2016113133A - Inverted bogie, control method of inverted bogie and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform determination on the boarding of an occupant on an inverted bogie in order to further enhance usability.SOLUTION: An inverted bogie 1 has: a left foot placing part 21a; a right foot placing part 21b; left placement detection sensors 22a, 23a which detect the placement of a left foot to the left foot placing part 21a; right placement detection sensors 22b, 23b which detect the placement of a right foot to the right foot placing part 21b; a boarding determination part 431 which performs the determination of boarding; and a control part 433 which controls the drive of wheels when a boarding state is determined. When the boarding determination part 431 detects the placement of the foot in all detection positions about the placement in at least the left foot placing part 21a, or detects the placement of the foot in all detection positions about the placement in at least the right foot placing part 21b, the boarding determination part determines the boarding state, and after the determination of the boarding state, when the boarding determination part does not detect the placement in all the detection positions of the left foot placing part 21a and the right foot placing part 21b, the boarding determination part changes the determination to a non-boarding state.SELECTED DRAWING: Figure 6

Description

  The present invention relates to an inverted carriage, an inverted carriage control method, and a program.

  There is known a device that performs control (inverted control) to maintain an inverted state by controlling drive wheels provided on the carriage while a passenger is on the carriage. In such a device, for example, as described in Patent Document 1, it is sometimes determined whether or not a passenger is in a boarding state, and the determination result is used for controlling the device.

  For example, in Patent Document 1, a step sensor that individually detects the placement of each foot of the passenger is provided in the riding portion of the vehicle body on which the passenger can ride, and one foot of the passenger is placed on the riding portion. A technique for starting upside-down control when it is detected is disclosed.

Japanese Patent Application Laid-Open No. 2014-080854

  In this way, when the control is performed based on whether the passenger is in the boarding state or the non-boarding state, the operation of the device differs depending on how the passenger's boarding determination is performed, so the boarding determination affects convenience. Effect. For this reason, it is required to appropriately perform boarding determination in view of passenger convenience.

  The present invention has been made in the background of the above-described circumstances, and provides an inverted carriage, an inverted carriage control method, and a program capable of making a determination on the ride of a passenger so as to be more convenient. Objective.

One aspect of the present invention for achieving the above object is an inverted carriage that maintains an inverted state by driving a wheel, and includes a first placement unit capable of placing one leg of a passenger, First detection means for detecting foot placement at a plurality of positions of the first placement portion, a second placement portion capable of placing the other foot of the occupant, and placement of the other foot Second detection means for detecting the position at a plurality of positions of the second placement portion, boarding determination means for performing boarding determination of the passenger, and when the boarding determination means determines that the boarding state, Control means for controlling the driving of the wheels, and when the boarding determination means does not determine the boarding state, at least the first detection means is a region where the one leg is to be placed. Or when at least the second detection means detects the placement at all detection positions included in When mounting is detected at all detection positions included in the region where the other foot is to be mounted, it is determined as a boarding state, and after the determination as a boarding state, the first detection means at all detection positions. An inverted carriage that does not detect placement and changes the determination to a non-boarding state when the second detection means does not detect placement at all detection positions.
In this aspect, the control means may perform control to maintain the inverted state when the boarding determination means determines that the boarding state is present.
In this one aspect, the vehicle further includes a grounding unit that stabilizes the inverted carriage by contacting the ground, and a stability determination unit that determines whether or not the grounding unit is in a stable state. Control may be performed to maintain the inverted state when it is determined by the determination means that the vehicle is in the boarding state and the stability determination means determines that the vehicle is not in a stable state due to the ground contact portion.
In this aspect, the first detection means includes a first detection sensor that detects placement of the front portion of the one foot on the first placement portion, and the first portion of the rear portion of the one foot. A second detection sensor that detects placement on the placement unit detects placement, and the second detection means detects placement of the front portion of the other foot on the second placement unit. The placement may be detected by a third detection sensor and a fourth detection sensor that detects placement of the rear portion of the other foot on the second placement portion.
One aspect of the present invention for achieving the above object includes a first placement unit capable of placing one of the passenger's feet, and a second placement unit capable of placing the other foot of the passenger. A method of controlling an inverted carriage that maintains an inverted state by driving a wheel, the step of detecting placement of the one foot at a plurality of positions of the first placement portion; and the other foot Detecting the mounting of the vehicle at a plurality of positions of the second mounting unit, performing the boarding determination of the occupant, and controlling the driving of the wheels when the boarding state is determined. And the step of determining whether to get on the vehicle includes at least all detection positions included in a region where the one foot of the first mounting portion is about to be mounted when the boarding state is not determined. Or when at least the other foot of the second placement portion is placed. When mounting is detected at all detection positions included in the region to be performed, it is determined that the vehicle is in the boarding state, and after the determination is made as the boarding state, mounting is detected at all the detection positions of the first mounting unit. In addition, an inverted cart control method may be used in which the determination is changed to a non-boarding state when mounting is not detected at all detection positions of the second mounting portion.
In this aspect, the step of controlling the driving of the wheel may perform control for maintaining the inverted state when it is determined that the vehicle is in the boarding state in the step of determining the boarding.
In this one aspect, the method further includes a step of determining whether or not the grounding unit stabilizes the inverted carriage by contacting the ground, and the step of controlling driving of the wheels performs the boarding determination. Control may be performed to maintain the inverted state when it is determined that the vehicle is in the boarding state in step and the step of determining whether or not the vehicle is in the stable state is not the stable state by the ground contact portion.
In this one aspect, the step of detecting at a plurality of positions of the first placement portion includes a first detection sensor for detecting placement of a front portion of the one foot on the first placement portion, and the one Detecting the placement by a second detection sensor for detecting placement of the rear portion of the foot on the first placement portion, and detecting at a plurality of positions of the second placement portion, A third detection sensor for detecting placement of the front portion of the foot on the second placement portion; and a fourth detection sensor for detecting placement of the rear portion of the other foot on the second placement portion; The placement may be detected by.
One aspect of the present invention for achieving the above object includes a first placement unit capable of placing one of the passenger's feet, and a second placement unit capable of placing the other foot of the passenger. A step of detecting the placement of the one foot at a plurality of positions of the first placement portion, and a placement of the other foot in a computer of an inverted cart that maintains an inverted state by driving wheels. Are detected at a plurality of positions of the second mounting portion, a step of determining whether the passenger is on board, and a step of controlling driving of the wheels when it is determined that the vehicle is in a boarding state. The step of determining whether to get on is placed at all detection positions included in an area where at least the one foot of the first placement portion is about to be placed when it is not determined as a boarding state. Or at least the other foot of the second placement portion is When placement is detected at all detection positions included in the region to be placed, it is determined that the vehicle is in the boarding state, and after the boarding state is determined, placement is detected at all the detection positions of the first placement unit. And a program that changes the determination to the non-boarding state when the placement is not detected at all the detection positions of the second placement portion.

  ADVANTAGE OF THE INVENTION According to this invention, the control method and program of an inverted trolley which can perform determination about a passenger | crew's boarding so that it may become more convenient, an inverted trolley | bogie can be provided.

It is a side view which shows typically the external appearance of the inverted trolley | bogie concerning Embodiment 1. FIG. It is a top view which shows typically the mounting part of the boarding board concerning Embodiment 1. FIG. It is a side view which shows typically a mode that the inverted trolley | bogie concerning Embodiment 1 is in the stable state by the independence by a grounding part. It is a block diagram which shows an example of a function structure of the inverted trolley | bogie concerning Embodiment 1. FIG. It is the table | surface which showed an example of the determination conditions of a boarding determination part. It is a flowchart shown about an example of operation | movement of a boarding determination part. 3 is a flowchart illustrating an example of an operation of a control unit according to the first exemplary embodiment. It is a block diagram which shows an example of a function structure of the inverted trolley | bogie concerning Embodiment 2. FIG. 10 is a flowchart illustrating an example of an operation of a control unit according to the second exemplary embodiment.

Embodiment 1 FIG.
Embodiment 1 of the present invention will be described below with reference to the drawings.
FIG. 1 is a side view schematically showing an appearance of an inverted carriage 1 according to the first embodiment. The inverted carriage 1 includes a carriage 10 provided with wheels 11 that are two coaxial drive wheels, a boarding base 20, a grounding section 30, and a main body section 40. The inverted carriage 1 is configured to maintain an inverted state by driving the wheels 11. The inverted cart 1 is used, for example, for a passenger to practice balancing, but the application is not limited to this.

  The boarding board 20 is provided on the upper surface of the carriage 10 and is a part on which the passenger 2 gets on board. As shown in FIG. 2, the boarding platform 20 includes a left foot placement portion 21 a as a first placement portion on which the left foot of the passenger 2 can be placed, and a second placement on which the right foot of the passenger 2 can be placed. And a right foot placement portion 21b as a portion.

The left foot placement portion 21a is provided with left placement detection sensors 22a and 23a for detecting placement of the left foot. The left placement detection sensor 22a detects the placement of the front portion of the left foot (that is, the portion on the toe side of the left foot) on the left foot placement portion 21a. The left placement detection sensor 23a detects the placement of the rear portion of the left foot (that is, the heel side portion of the left foot) on the left foot placement portion 21a.
Thus, the left placement detection sensor 22a and the left placement detection sensor 23a function as first detection means for detecting placement of one foot at a plurality of positions of the first placement portion.

The right foot placement portion 21b is provided with right placement detection sensors 22b and 23b for detecting the placement of the right foot. The right placement detection sensor 22b detects the placement of the front portion of the right foot (that is, the portion on the toe side of the right foot) on the right foot placement portion 21b. The right placement detection sensor 23b detects the placement of the rear portion of the right foot (that is, the heel side portion of the right foot) on the right foot placement portion 21b.
Thus, the right placement detection sensor 22b and the right placement detection sensor 23b function as second detection means for detecting placement of the other foot at a plurality of positions of the second placement portion.

  Here, the left placement detection sensors 22a and 23a and the right placement detection sensors 22b and 23b can be configured by various methods such as optical, magnetic, and electrical, and specific configurations thereof. Is optional. For example, the left placement detection sensors 22a and 23a and the right placement detection sensors 22b and 23b are each constituted by a weight sensor, and detects whether or not the foot of the passenger 2 is on the weight sensor. The foot detection signal may be output to the control device 43 when the vehicle is riding.

  As shown in FIG. 3, the grounding unit 30 is provided on, for example, the lower surface of the carriage 10, and stabilizes the inverted carriage 1 by contacting the ground 3. For this reason, when the grounding unit 30 is in contact with the ground 3, the inverted cart 1 can be independent even when the inverted control is stopped. That is, when the grounding unit 30 is self-supporting, the grounding unit 30 is in contact with the ground and supports the inverted cart. Here, whether or not the state of the inverted carriage 1 is a stable state by the grounding unit 30 is determined based on detection by an attitude angle sensor 41 described later. When the inversion control is performed, the ground contact portion 30 basically does not contact the ground, and only the wheel 11 contacts the ground.

  Next, the main body 40 will be described with reference to FIG. As shown in FIG. 4, the main body 40 includes a posture angle sensor 41, a drive device 42, and a control device 43.

The attitude angle sensor 41 detects the attitude angle of the inverted carriage 1. Specifically, the posture angle sensor 41 detects at least the posture angle (pitch angle) of the inverted carriage 1 in the front-rear direction. In addition, the front-back direction here is a direction which moves by rotation of the wheel 11, and is equivalent to the left-right direction on drawing of FIG. The posture angle sensor 41 only needs to be able to detect the posture angle of the inverted carriage 1 and is realized by any known configuration. For example, the posture angle sensor 41 detects the posture angle using, for example, a gyro sensor or an acceleration sensor.
The detection result by the attitude angle sensor 41 is output to the control device 43 described later.

  The drive device 42 includes a drive mechanism such as a motor and drives the wheels 11. The drive device 42 is driven based on a control signal input from the control device 43 described later, and rotates the wheel 11.

  The control device 43 includes a boarding determination unit 431, a stability determination unit 432, and a control unit 433, and is a device that controls the inverted carriage 1. The control device 43 includes, for example, a CPU (Central Processing Unit) that performs arithmetic processing, control processing, and the like, a ROM (Read Only Memory) and a RAM (Random Access Memory) that store arithmetic programs executed by the CPU, control programs, and the like. The hardware is configured around a microcomputer including a memory including the above. The CPU and the memory are connected to each other via a data bus or the like.

  The boarding determination unit 431 performs boarding determination of the occupant 2 based on the detection result of the foot placement in the left foot placement unit 21a and the right foot placement unit 21b. That is, the boarding determination unit 431 determines whether the passenger 2 is in the riding state on the inverted carriage 1 based on the detection results of the left mounting detection sensors 22a and 23a and the right mounting detection sensors 22b and 23b. It is determined whether the vehicle is in a non-riding state where the vehicle is not on the inverted carriage 1. The boarding determination unit 431 notifies the control unit 433 of the determination result.

Hereinafter, details of the determination by the boarding determination unit 431 will be described.
The boarding determination unit 431 first detects a foot placement at all detection positions (all detection positions included in a region where the left foot is to be placed) at least on the placement in the left foot placement portion 21a. Or at least all detection positions (all detection positions included in the region where the right foot is about to be placed) for placement in the right foot placement portion 21b, it is determined that the boarding state. In other cases, it is determined that the vehicle is not in the boarding state. That is, when it is not determined as a boarding state, the boarding determination part 431 performs the following determinations. In addition, the case where it is not determined as a boarding state is the case where any determination is not made by the boarding determination part 431 other than the case where the determination by the latest boarding determination part 431 is a non-boarding state (namely, initial stage) In case of condition). When the boarding state is not determined, the boarding determination unit 431 detects at least the left mounting detection among the left mounting detection sensor 22a, the left mounting detection sensor 23a, the right mounting detection sensor 22b, and the right mounting detection sensor 23b. When the sensor 22a and the left placement detection sensor 23a output the foot detection signal, the board 22 is determined to be in the boarding state. In addition, when it is not determined that the vehicle is in the boarding state, the boarding determination unit 431 includes at least the right mounting detection sensor 22a, the left mounting detection sensor 23a, the right mounting detection sensor 22b, and the right mounting detection sensor 23b. When the placement detection sensor 22b and the right placement detection sensor 23b output the foot detection signal, it is determined that the vehicle is in the riding state.

  In addition, the boarding determination unit 431 does not detect foot placement at all detection positions for placement in the left foot placement unit 21a and determines placement in the right foot placement unit 21b after determining the boarding state. When the placement of the foot is not detected at all of the detection positions, the determination is changed to the non-riding state, and otherwise, it is determined as the riding state. That is, when the latest determination by the boarding determination unit 431 is the boarding state, the boarding determination unit 431 has the left mounting detection sensor 22a, the left mounting detection sensor 23a, the right mounting detection sensor 22b, and the right mounting detection sensor 23b. When the foot detection signal is not output in all of the above, the boarding determination is changed from the boarding state to the non-boarding state.

  FIG. 5 is a table specifically showing the above-described determination conditions of the boarding determination unit 431. As shown in FIG. 5, in the current determination, that is, the determination of the latest boarding determination unit 431, different determination criteria are used depending on whether the boarding state is not determined or the boarding state is determined. Boarding determination is performed. In the following description, a determination criterion (determination criterion corresponding to the upper half of FIG. 5) that is applied when it is not determined to be in the boarding state is referred to as a first determination criterion, and is determined to be in the riding state. The applied criterion (the criterion corresponding to the lower half of FIG. 5) may be referred to as the second criterion.

  The stability determination unit 432 determines whether or not the inverted cart 1 is in a self-supporting state when the grounding unit 30 is in contact with the ground, that is, a static stable state. The stability determination unit 432 determines whether or not the stable state is based on the posture angle of the inverted carriage 1 detected by the posture angle sensor 41. Specifically, for example, when the posture determination unit 432 detects the posture angle of the inverted carriage 1 detected by the posture angle sensor 41 corresponds to the angle when the grounding unit 30 is in contact with the ground, the stability determination unit 432 When it is determined that the grounding unit 30 is in a stable state due to grounding and does not correspond to the angle when the grounding unit 30 is in contact with the ground, it is determined that the inverted carriage 1 is not in a stable state due to grounding of the grounding unit 30. The stability determination unit 432 notifies the control unit 433 of the determination result.

  In the present embodiment, the stability determination unit 432 performs the determination based on the detection result of the attitude angle sensor 41, but the determination may be performed by any other method. For example, a switch that is pressed when the grounding unit 30 is in contact with the ground may be provided in the grounding unit 30, and the determination may be performed using this switch.

  The control unit 433 generates a control signal for driving and controlling the wheels 11 based on detection results output from various sensors mounted on the inverted carriage 1 and outputs the control signal to the driving device 42. The control unit 433 executes predetermined arithmetic processing based on, for example, angle information output from the attitude angle sensor 41, output from a rotation sensor (not shown) that detects rotation information of the wheels 11, and drives necessary control signals. Output to the device 42. For example, the control unit 433 performs control (inverted control) to maintain the inverted state of the inverted carriage 1 by controlling the driving of the wheels 11. The inversion control is one aspect of wheel drive control by the control unit 433.

  However, the control unit 433 controls the driving of the wheels 11 when the boarding determination unit 431 determines that the vehicle is in the boarding state. That is, the control unit 433 turns on the servo control of the driving device 42. The control unit 433 performs control to maintain the inverted state when the boarding determination unit 431 determines that the vehicle is in the boarding state and the stability determination unit 432 determines that the grounding unit 30 is not in a stable state due to grounding. .

  When the boarding determination unit 431 determines that the vehicle is in the boarding state and the stability determination unit 432 determines that the grounding unit 30 is in a stable state, the control unit 433 drives the wheels 11 to remain stationary. Take control. Specifically, for example, the control unit 433 performs servo control so that the speed of the wheel 11 becomes zero. Thereby, since the inverted cart 1 is stabilized, the passenger can easily proceed with the riding operation on the inverted cart 1.

  The control unit 433 stops the driving control of the wheels 11 when the boarding determination unit 431 determines that the vehicle is not in the boarding state. That is, the control unit 433 turns off the servo control of the drive device 42. For this reason, when the control unit 433 is executing the inversion control, the inversion control is stopped. The control unit 433 stops the inversion control when the stability determination unit 432 determines that the ground unit 30 is in a stable state due to the grounding. In this case, unless it is determined that the vehicle is in the stable state, the inversion control is stopped, but the wheel drive control is continued. For this reason, for example, the control unit 433 performs drive control so that the wheel 11 continues to be stationary after the inversion control is stopped.

  The control unit 433 sequentially acquires the determination results from the boarding determination unit 431 and the stability determination unit 432, and performs the above-described control switching.

  Next, the operation in the inverted carriage 1 will be described based on a flowchart. First, the determination operation by the boarding determination unit 431 will be described with reference to FIG.

In step 10 (S10), the left placement detection sensor 22a detects the presence or absence of placement, and the detection result is input to the boarding determination unit 431.
In step 11 (S11), the left placement detection sensor 23a detects the presence or absence of placement, and the detection result is input to the boarding determination unit 431.
In step 12 (S12), the right placement detection sensor 22b detects the presence or absence of placement, and the detection result is input to the boarding determination unit 431.
In step 13 (S13), the right placement detection sensor 23b detects the presence or absence of placement, and the detection result is input to the boarding determination unit 431.
It should be noted that the order of steps 10 to 13 is not limited to the above, and may be any order, and it goes without saying that these may be performed in parallel.

  In step 14 (S14), the boarding determination unit 431 checks whether or not the boarding state is determined in the latest boarding determination unit 431. If it is not determined to be in the boarding state, the process proceeds to step 15, and if it is determined to be in the boarding state, the process proceeds to step 16.

In step 15 (S15), the boarding determination unit 431 performs boarding determination by applying the first determination criterion described above. In other words, the boarding determination unit 431 detects the placement of the foot at at least all detection positions for placement in the left foot placement portion 21a, or at least at all the detection positions for placement in the right foot placement portion 21b. When the placement of the foot is detected, it is determined as a boarding state, and otherwise, it is determined as a non-boarding state.
On the other hand, in step 16 (S16), the boarding determination unit 431 performs boarding determination by applying the second determination criterion described above. That is, the boarding determination unit 431 does not detect foot placement at all detection positions for placement in the left foot placement portion 21a, and does not detect foot placement at all detection positions for placement in the right foot placement portion 21b. In the case where no placement is detected, the determination is changed to the non-boarding state, and in other cases, the boarding state is determined.
After the determination in step 15 or step 16, the process returns to step 10 again, and the determination process is repeated.

Next, the flow of the control by the control unit 433 will be described with reference to FIG.
In step 20 (S20), the control unit 433 acquires the boarding determination result by the boarding determination unit 431, and checks whether the boarding state is determined. At this stage, the control unit 433 has not yet performed drive control of the wheels 11. If the boarding determination unit 431 determines that the boarding state is present, the process proceeds to step 21. If the boarding determination unit 431 does not determine the boarding state, the process returns to step 20. At this time, the determination result by the boarding determination unit 431 is performed in accordance with the first determination criterion.

  In step 21 (S21), the control unit 433 turns on the servo control of the drive device 42 and starts the drive control of the wheels 11. And the control part 433 performs drive control so that the wheel 11 may continue still.

In step 22 (S22), the control unit 433 acquires the boarding determination result by the boarding determination unit 431, and confirms whether the boarding state is determined. If the boarding determination unit 431 does not determine the boarding state (when the boarding determination unit 431 determines that the boarding state is not), the process proceeds to step 23. If the boarding determination unit 431 determines the boarding state, the process proceeds to step 23. 24. At this time, the determination result by the boarding determination unit 431 is performed according to the second determination criterion.
In step 23 (S23), the control unit 433 turns off the servo control of the drive device 42 and stops the drive control of the wheels 11. The process returns to step 20.

  In step 24 (S24), the control unit 433 acquires the determination result by the stability determination unit 432 and confirms whether or not the grounding unit 30 is in a stable state due to the grounding. If the determination by the stability determination unit 432 is a determination that the grounding unit 30 is not in a stable state due to grounding, the process proceeds to step 25. If the determination by the stability determination unit 432 is a determination that the grounding unit 30 is in a stable state due to grounding, the process returns to step 22.

  In step 25 (S25), the control unit 433 starts control for maintaining the inverted state. After starting the inversion control, the control unit 433 sequentially acquires the determination result by the boarding determination unit 431 and the determination result of the stability determination unit 432, and confirms whether or not control switching is necessary. Specifically, the following operation is performed.

  In step 26 (S26), the control unit 433 acquires the boarding determination result by the boarding determination unit 431, and confirms whether the boarding state is determined. If the boarding determination unit 431 determines that the boarding state is present, the process proceeds to step 27. When the boarding determination part 431 does not determine with the boarding state, a process transfers to step 23 and the control part 433 stops the drive control of the wheel 11. FIG. For this reason, the inversion control is also stopped. At this time, the determination result by the boarding determination unit 431 is performed according to the second determination criterion.

  In step 27 (S27), the control unit 433 acquires the determination result by the stability determination unit 432, and confirms whether or not the grounding unit 30 is in a stable state due to grounding. If the determination by the stability determination unit 432 is a determination that the grounding unit 30 is not in a stable state due to grounding, the process returns to step 26. For this reason, the inversion control is continued. On the other hand, if the determination by the stability determination unit 432 is a determination that the grounding unit 30 is in a stable state due to grounding, the process proceeds to step 28.

  In step 28 (S28), the control unit 433 stops the inversion control, and the process returns to step 22. At this time, the control unit 433 keeps the servo control of the driving device 42 on.

Regarding the control of the inverted cart, the inventor has found the following.
In a stage before the passenger gets on, it is preferable that the power of the inverted carriage is cut off. This is because the movement of the inverted carriage 1 may cause an unintentional movement for the passenger if the inverted carriage performs, for example, an inverted control before the passenger gets on. For this reason, in the stage before a passenger gets in, the state in which the power of the inverted cart 1 was cut off improves the convenience for the passenger. In addition, it is assumed that the situation where only a part of one foot is placed on the boarding base 20 is a state in which the passenger loses balance. Under such circumstances, when the inverted cart 1 makes a careless movement for the passenger, it is difficult for the passenger to respond to the movement. For this reason, even in such a situation, it is preferable that the power of the inverted carriage 1 is cut off. In addition, when it is difficult to place a foot on an intended place such as a person during rehabilitation, the above-described operation expected for an inverted cart becomes more important.

  On the other hand, in a situation where the passenger gets on and the power of the inverted carriage 1 is turned on, turning off the power can be an inadvertent movement for the passenger. For example, even when the foot of the passenger who has boarded the inverted carriage 1 during the inversion control is only part of one leg as described above, the inversion control is stopped rather than stopping the inversion control at that stage. It is preferable for the passenger to continue the control and keep the inverted carriage 1 in a dynamic stable state.

  Here, as described above, the inverted cart 1 performs the following control. The inverted carriage 1 does not perform wheel drive control until at least one of the legs is securely placed. For this reason, it is possible to reduce the inadvertent operation of the inverted carriage 1 before boarding. In addition, after at least one of the feet is reliably placed, the drive control of the inverted carriage 1 is continued until the placement of the feet cannot be detected at all placement detection positions. For this reason, according to the inverted cart 1, the convenience is improved.

Embodiment 2. FIG.
Next, the inverted carriage 1 according to the second embodiment will be described. In the first embodiment, when the inverted carriage 1 is determined to be in the boarding state by the boarding determination unit 431 and is determined not to be in a stable state due to the grounding of the grounding unit 30 by the stability determination unit 432, the control unit 433 is Inverted control started. The control unit 433 according to the present embodiment is the point that the inversion control is started when the boarding determination unit 431 determines the boarding state regardless of whether or not the stable state is due to the grounding. And different.

  FIG. 8 is a block diagram illustrating a functional configuration of the inverted carriage 1 according to the second embodiment. As shown in FIG. 8, in the control device 53 according to the present embodiment, the stability determination unit 432 is omitted and the control unit 433 is replaced with a control unit 533 as compared with the first embodiment. The control unit 433 is different in that control is switched based on the determination result of the boarding determination unit 431, whereas the control unit 433 is switched based on the determination result of the boarding determination unit 431 and the stability determination unit 432. However, other configurations of the control unit 533 are the same as those of the control unit 433.

  Hereinafter, control of the control unit 533 according to the present embodiment will be described. FIG. 9 is a flowchart illustrating an example of the operation of the control unit 533 according to the second embodiment.

For example, the control unit 533 according to the present embodiment operates as follows instead of the operation illustrated in FIG.
In step 30 (S30), the control unit 533 acquires the boarding determination result by the boarding determination unit 431, and confirms whether the boarding state is determined. At this stage, the control unit 533 has not yet performed the inversion control. If the boarding determination unit 431 determines that the boarding state is present, the process proceeds to step 31. If the boarding determination unit 431 does not determine the boarding state, the process returns to step 30. At this time, the determination result by the boarding determination unit 431 is performed in accordance with the first determination criterion.

  In step 31 (S31), the control unit 533 starts the inversion control. Specifically, the control unit 533 turns on the servo control of the driving device 42 and starts the inversion control.

  In step 32 (S22), the control unit 533 acquires the boarding determination result by the boarding determination unit 431, and confirms whether or not the boarding state is determined. If the boarding determination unit 431 does not determine the boarding state (when the boarding determination unit 431 determines that the boarding state is not), the process proceeds to step 33. Return to 32. In this way, during the inversion control, it is sequentially confirmed whether or not it is in the boarding state, and the inversion control is continued as long as it is in the boarding state. At this time, the determination result by the boarding determination unit 431 is performed according to the second determination criterion.

  In step 33 (S33), the control unit 533 stops the inversion control. Specifically, the control unit 533 stops the drive control of the wheel 11 and turns off the servo control of the drive device 42. After step 33, the process returns to step 30.

  According to the present embodiment, since the inversion control is performed when the boarding determination is made, the inversion control can be started with a simpler procedure. Further, in the present embodiment, the grounding unit 30 and the stability determining unit 432 may be omitted, and the configuration can be simplified as compared with the first embodiment.

  Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and can be modified as appropriate without departing from the spirit of the present invention. For example, in the above embodiment, the number of sensors for detecting the placement of the left foot and the number of sensors for detecting the placement of the right foot are two, but a plurality of sensors for detecting the placement of each foot may be provided. It may be 3 or more. Further, the number of sensors that detect the placement of the left foot may differ from the number of sensors that detect the placement of the right foot. Also, the detection position of the sensor may be set to any position within the range where the foot is placed.

  In the first embodiment, the fact that the grounding portion is not in contact with the ground is a requirement for performing the inversion control. However, the present invention is not limited to this, and other conditions may be required. For example, it may be a requirement that an operation for instructing the start of the inverted control, such as pressing a button for instructing the inverted control, is performed via the user interface.

  In addition, the present invention can be realized by causing the CPU to execute a computer program, for example, the processes shown in FIGS. 6, 7, and 9.

  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.

DESCRIPTION OF SYMBOLS 1 Inverted bogie 10 Bogie 11 Wheel 20 Boarding board 21a Left foot mounting part 21b Right foot mounting part 22a Left mounting detection sensor 22b Right mounting detection sensor 23a Left mounting detection sensor 23b Right mounting detection sensor 30 Grounding part 41 Attitude angle Sensor 42 Drive device 43, 53 Control device 431 Boarding determination unit 432 Stability determination unit 433, 533 Control unit

Claims (9)

An inverted cart that maintains an inverted state by driving wheels,
A first placement section capable of placing one of the passenger's feet;
First detection means for detecting placement of the one foot at a plurality of positions of the first placement unit;
A second placement portion capable of placing the other leg of the passenger;
Second detection means for detecting the placement of the other foot at a plurality of positions of the second placement portion;
Boarding determination means for determining boarding of the passenger;
Control means for controlling driving of the wheels when the boarding determination means determines that the boarding state;
Have
When the boarding determination means does not determine the boarding state, at least when the first detection means detects placement at all detection positions included in the region where the one foot is to be placed, Alternatively, when at least the second detection means detects placement at all detection positions included in the region where the other foot is to be placed, it is determined as a riding state, and after the determination as a riding state, An inverted cart that changes the determination to the non-riding state when the first detection means does not detect placement at all detection positions and the second detection means does not detect placement at all detection positions. The inverted carriage according to claim 1, wherein the control means performs control to maintain an inverted state when the boarding determination means determines that the boarding state is present. A grounding portion that stabilizes the inverted carriage by contacting the ground;
And a stability determination means for determining whether or not the grounding portion is in a stable state,
The control unit performs control to maintain an inverted state when the boarding determination unit determines that the vehicle is in a boarding state and the stability determination unit determines that the boarding state is not a stable state by the grounding unit. The inverted trolley described. The first detection means includes: a first detection sensor that detects placement of a front portion of the one foot on the first placement portion; and a rear portion of the one foot on the first placement portion. The placement is detected by the second detection sensor that detects the placement,
The second detection means includes a third detection sensor that detects placement of the front portion of the other foot on the second placement portion, and a second portion of the rear portion of the other foot to the second placement portion. The inverted carriage according to any one of claims 1 to 3, wherein the placement is detected by a fourth detection sensor that detects the placement. An inverted trolley comprising a first placement part capable of placing one leg of a passenger and a second placement part capable of placing the other leg of the passenger, and maintaining an inverted state by driving a wheel Control method,
Detecting the placement of the one foot at a plurality of positions of the first placement unit;
Detecting the placement of the other foot at a plurality of positions of the second placement portion;
Performing the ride determination of the passenger;
When it is determined that the vehicle is in a boarding state,
In the step of determining whether to get on the vehicle, when it is not determined that the vehicle is in the boarding state, at least all the detection positions included in the region where the one foot of the first mounting unit is to be mounted are detected. Or when at least all the detection positions included in the region where the other foot of the second placement portion is to be placed are detected, the boarding state is determined, and the boarding state is determined. Changes the determination to the non-riding state when no placement is detected at all detection positions of the first placement section and no placement is detected at all detection positions of the second placement section. Yes How to control an inverted cart. The method for controlling an inverted carriage according to claim 5, wherein the step of controlling the driving of the wheels performs a control to maintain the inverted state when it is determined that the vehicle is in the boarding state in the step of determining the boarding. Further comprising the step of determining whether or not it is in a stable state by a grounding unit that stabilizes the inverted carriage by contacting the ground,
The step of controlling the driving of the wheels is determined to be a boarding state in the step of determining the boarding, and is determined not to be a stable state by the grounding unit in the step of determining whether or not the state is the stable state. The control method of the inverted cart according to claim 6, wherein control for maintaining the inverted state is performed. The step of detecting at a plurality of positions of the first placement portion includes a first detection sensor for detecting placement of a front portion of the one foot on the first placement portion, and a rear portion of the one foot. Detecting the placement by the second detection sensor for detecting the placement on the first placement portion,
The step of detecting at a plurality of positions of the second placement portion includes a third detection sensor for detecting placement of a front portion of the other foot on the second placement portion, and a rear portion of the other foot. The method for controlling the inverted carriage according to any one of claims 5 to 7, wherein the placement is detected by a fourth detection sensor that detects placement on the second placement portion. An inverted trolley comprising a first placement part capable of placing one leg of a passenger and a second placement part capable of placing the other leg of the passenger, and maintaining an inverted state by driving a wheel On the computer
Detecting the placement of the one foot at a plurality of positions of the first placement unit;
Detecting the placement of the other foot at a plurality of positions of the second placement portion;
Performing the ride determination of the passenger;
When it is determined that the vehicle is in a boarding state, the step of controlling the driving of the wheels is executed,
In the step of determining whether to get on the vehicle, when it is not determined that the vehicle is in the boarding state, at least all the detection positions included in the region where the one foot of the first mounting unit is to be mounted are detected. Or when at least all the detection positions included in the region where the other foot of the second placement portion is to be placed are detected, the boarding state is determined, and the boarding state is determined. Changes the determination to the non-riding state when no placement is detected at all detection positions of the first placement section and no placement is detected at all detection positions of the second placement section. Program.

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