JP2016124495A - Inverted moving body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suppress a motion unexpected by a user which occurs when the user on an inverted moving body changes his/her posture.SOLUTION: An inverted moving body 1 comprises a control part to which an operation signal of turn control or posture control based on an operation of a user is inputted, and which generates a turn command signal or a posture command signal on the basis of the operation signal. When the control part 8 determines that a boarding state of the user is instable on the basis of a signal inputted from a notification part 7 which notifies that the boarding state of the user is instable, the control part generates the turn command signal so that the responsiveness of the turn control with respect to the operation signal is lowered compared with the case that the boarding state of the user is determined to be stable, or generates the posture command signal so that the responsiveness of the posture control with respect to the operation signal is improved compared with the case that the boarding state of the user is determined to be stable.SELECTED DRAWING: Figure 4

Description

  The present invention relates to an inverted moving body, and in particular, an inverted movement having a control unit that receives a turning control or posture control operation signal based on a user operation and generates a turning command signal or a posture command signal based on the operation signal. About the body.

  A general inverted moving body turns and moves forward and backward based on the movement of the center of gravity of the user. For example, the inverted moving body of Patent Document 1 turns based on the rotation angle of the handle in the left-right direction and the rotation angle of the vehicle body in the left-right direction, and based on the movement of the center of gravity position in the front-rear direction of the user. Move forward and backward to maintain the inverted state.

JP 2006-315666 A

  As described above, the inverted moving body turns and moves forward and backward based on the movement of the center of gravity of the user. For example, when the user riding on the inverted moving body changes the posture (for example, when the position of the foot is corrected). ), The user's center of gravity position may change and an unintended operation may be performed.

  This invention is made in view of the above, Comprising: The operation | movement which a user does not intend is suppressed when the user in the inverted moving body changes posture.

An inverted moving body according to an aspect of the present invention includes a control unit that receives a turning control or posture control operation signal based on a user's operation and generates a turning command signal or a posture command signal based on the operation signal. An inverted mobile,
When the control unit determines that the riding state of the user is unstable based on a signal input from a notification unit that notifies that the riding state of the user is unstable, the control unit The turn command signal is generated so that the response of the turn control is lower than the case where it is determined that the riding state of the user is stable, or the response of the posture control to the operation signal is The attitude command signal is generated so as to be improved as compared with a case where it is determined that the riding state is stable.

  ADVANTAGE OF THE INVENTION According to this invention, when the user who boarded the inverted moving body changes a posture, the operation | movement which a user does not intend can be suppressed.

FIG. 3 is a front view schematically showing the inverted moving body of the first embodiment. FIG. 3 is a plan view schematically showing the inverted moving body according to the first embodiment. FIG. 3 is a block diagram illustrating a control system of the inverted moving body according to the first embodiment. FIG. 4 is a flowchart showing turning control of the inverted moving body according to the first embodiment. It is a figure which shows an example of the operation signal input into a control part from an angle detection part. It is a figure which shows the turning command signal produced | generated in order to control the motor of a right-and-left drive wheel so as to respond | correspond to the operation signal of FIG. It is a figure which shows the turning command signal when the user's boarding state in the inverted mobile body of Embodiment 1 is unstable. It is a figure which shows a different turning command signal when the user's boarding state in the inverted mobile body of Embodiment 1 is unstable. It is a flowchart figure which shows the inversion control of the inverted moving body of Embodiment 2. FIG. It is a figure which shows the rotation to the front-back direction when the user's boarding state in the inverted moving body is stable. It is a figure which shows the rotation to the front-back direction when the user's boarding state in an inverted moving body is unstable. It is a front view which shows a different inverted moving body typically.

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

<Embodiment 1>
The configuration of the inverted moving body of the present embodiment will be described. FIG. 1 is a front view schematically showing the inverted moving body of the present embodiment. FIG. 2 is a plan view schematically showing the inverted moving body of the present embodiment. FIG. 3 is a block diagram showing a control system of the inverted moving body of the present embodiment.

  As shown in FIGS. 1 to 3, the inverted moving body 1 of the present embodiment includes a riding unit 2, a handle 3, left and right drive wheels 4 </ b> L and 4 </ b> R, an attitude detection unit 5, an angle detection unit 6, a notification unit 7, and A control unit 8 is provided. The riding part 2 is a base on which the user gets on. For example, the user gets on both legs and rides in an inverted posture.

  The handle 3 is provided at the front portion of the riding portion 2 so as to be rotatable in the left-right direction of the inverted moving body 1. In the present embodiment, the user rotates the handle 3 in the left-right direction of the inverted moving body 1, thereby turning the inverted moving body 1 in the left-right direction.

  The left and right drive wheels 4L, 4R include wheels 9, a speed reducer (not shown), and a motor 10, and a turn command input from the control unit 8 so that the angular velocity of the motor 10 becomes a desired angular velocity. The motor 10 operates based on the signal and the attitude command signal. The left and right drive wheels 4L, 4R are supported by the riding section 2.

  The posture detection unit 5 detects the rotation angle of the inverted moving body 1 and thus the riding unit 2 in the front-rear direction, and outputs a detection signal (operation signal) to the control unit 8. As the posture detection unit 5, a general posture detection device can be used. For example, a gyro sensor or an acceleration sensor can be used.

  The angle detection unit 6 detects a rotation angle of the inverted moving body 1 in the left-right direction in the handle 3 and outputs a detection signal (operation signal) to the control unit 8. As the angle detection unit 6, a general angle detection device can be used, and for example, an encoder or the like can be used.

  The notification unit 7 notifies the control unit 8 of the user's boarding state. The notification unit 7 of the present embodiment includes a plurality of load sensors provided at positions where the left and right legs of the user are placed on the upper surface of the riding unit 2, and the detection signal of each load sensor is transmitted to the control unit. 8 is output.

  The control unit 8 generates a posture command signal based on the operation signal input from the posture detection unit 5, and based on the generated posture command signal, realizes forward / backward movement while maintaining the inverted state of the inverted moving body 1. Thus, the motors 10 of the left and right drive wheels 4L, 4R are controlled.

  Further, the control unit 8 generates a turning command signal based on the operation signal input from the angle detection unit 6, and realizes turning of the inverted moving body 1 in the left-right direction based on the generated turning command signal. In addition, the motors 10 of the left and right drive wheels 4L, 4R are controlled.

  At this time, although the details will be described later, the control unit 8 determines whether or not the riding state of the user is stable based on the detection signal input from the notification unit 7 and turns according to the riding state of the user. A command signal or a posture command signal is generated.

  Next, turning control of the inverted moving body according to the present embodiment will be described. FIG. 4 is a flowchart showing a flow of turning control of the inverted moving body according to the present embodiment. FIG. 5 is a diagram illustrating an example of an operation signal input from the angle detection unit to the control unit. FIG. 6 is a diagram showing a turn command signal generated to control the motors of the left and right drive wheels so as to correspond to the operation signal of FIG. FIG. 7 is a diagram illustrating a turn command signal when the riding state of the user in the inverted moving body of the present embodiment is unstable. In FIG. 5 and the like, for example, the + side is the signal value when the handle 3 is rotated to the right side of the inverted moving body 1, and the − side is the signal value when the handle 3 is rotated to the left side of the inverted moving body 1. Is the value of

  The control unit 8 determines whether or not the user's boarding state is stable based on the detection signal input from the notification unit 7 (S1). For example, when the user is on the riding unit 2 stably, the load indicated by the detection signal input from each load sensor is equal to or greater than a predetermined threshold. On the other hand, when the user changes his / her posture such as correcting the foot position, the load indicated by the detection signal input from any of the load sensors becomes smaller than a predetermined threshold value. Therefore, when the load indicated by the detection signal input from any of the load sensors is smaller than a predetermined threshold, the control unit 8 according to the present embodiment determines that the user's boarding state is unstable.

  Here, when the user rotates the handle 3 to the left and right of the inverted moving body 1, the angle detection unit 6 outputs an operation signal as illustrated in FIG. 5 to the control unit 8. Usually, the control unit 8 generates a turn command signal for controlling the motors 10 of the left and right drive wheels 4L, 4R corresponding to the operation signal input from the angle detection unit 6 as shown in FIG. . However, as described above, if the user's boarding state is unstable, a turn that is not intended by the user may be executed.

  Therefore, if the control unit 8 determines that the user's boarding state is unstable (NO in S1), the control unit 8 turns so that the responsiveness of the turn control is lower than that in the case where the user's boarding state is the stable state. A command signal is generated (S2). That is, when the control unit 8 determines that the user's boarding state is unstable, as shown in FIG. 7, the control unit 8 generates a turn command signal (broken line) generated when the user's boarding state is stable. In comparison, the turn command signal is generated so that the value indicated by the turn command signal decreases.

  On the other hand, when the control unit 8 determines that the riding state of the user is stable (YES in S1), the control unit 8 generates a turn command signal corresponding to the operation signal so as to maintain the response of the turn control (S3). .

  As described above, in the present embodiment, when the user's boarding state is unstable, the turning command signal is generated so that the responsiveness is lowered as compared with the case where the user's boarding state is stable. When the user changes his / her posture, turning that is not intended by the user can be suppressed.

  In the present embodiment, the value indicated by the turn command signal is decreased. However, as shown in FIG. 8, the value indicated by the turn command signal may be limited to a limit value or less. That is, the control unit 8 may limit only the value exceeding the limit value in the turn command signal to a value equal to or less than the limit value, instead of reducing the value indicated by the turn command signal as a whole.

  In the present embodiment, the value indicated by the turn command signal is decreased, but the value indicating the turn command signal may be zero.

  In the present embodiment, the value indicated by the turn command signal is decreased, but the value indicated by the operation signal input to the control unit 8 may be decreased.

<Embodiment 2>
In the present embodiment, the inverted control of the inverted moving body will be described. FIG. 9 is a flowchart showing the inversion control of the inverted moving body according to the present embodiment. FIG. 10 is a diagram illustrating rotation in the front-rear direction when the riding state of the user in the inverted moving body is stable. FIG. 11 is a diagram illustrating the rotation in the front-rear direction when the riding state of the user in the inverted moving body is unstable. In FIGS. 10 and 11, the inverted moving body in the neutral state is indicated by a solid line, and the inverted moving body rotated in the front-rear direction is indicated by a two-dot chain line.

  As in the first embodiment, the control unit 8 determines whether the riding state of the user is stable based on the detection signal input from the notification unit 7 (S11).

  If the control unit 8 determines that the user's boarding state is unstable (NO in S11), the posture command so that the responsiveness of the posture control is improved as compared with the case where the user's boarding state is stable. A signal is generated (S12). That is, when the control unit 8 determines that the user's boarding state is unstable, the control unit 8 sets the posture command signal so that the value indicated by the posture command signal is increased as compared with the case where the user's boarding state is stable. Generate.

  On the other hand, if the control unit 8 determines that the riding state of the user is stable (YES in S11), the control unit 8 generates a posture command signal corresponding to the operation signal so as to maintain the responsiveness of the posture control (S13). .

  As described above, in the present embodiment, when it is determined that the user's boarding state is unstable, the posture command signal is improved so that the responsiveness of the posture control is improved as compared with the case where the user's boarding state is stable. Therefore, the inverted moving body is difficult to rotate in the front-rear direction, for example, with respect to the rotation angle range in the front-rear direction of the inverted moving body when the user's riding state shown in FIG. 10 is stable, As shown in FIG. 11, the range of the rotation angle of the inverted moving body in the front-rear direction becomes narrower. Therefore, when the user changes his / her posture, forward / backward movement unintended by the user can be suppressed.

  In the present embodiment, the value indicated by the turn command signal is increased, but the value indicated by the operation signal input to the control unit 8 may be increased.

  The present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.

  In the above embodiment, the turning is performed based on the rotation angle of the handle 3. However, as shown in FIG. 12, the riding part 2 supports the parallel links 2a and 2a for supporting the left and right drive wheels 4L and 4R. And a step plate 2b on which the left and right legs of the user are placed, and turning may be performed based on the rotation angle of the step plate 2b in the left-right direction.

  The notification unit 7 of the above embodiment notifies the control unit 8 that the user's riding state is unstable using a plurality of load sensors. For example, the user operates an operation unit such as a switch. By doing so, the structure which notifies the control part 8 that a user's boarding state is unstable may be sufficient.

DESCRIPTION OF SYMBOLS 1 Inverted moving body 2 Riding part, 2a Parallel link, 2b Step plate 3 Handle 4L, 4R Drive wheel, 9 wheel, 10 Motor 5 Attitude detection part 6 Angle detection part 7 Notification part 8 Control part

Claims (1)

An inverted moving body including a control unit that receives a turning control or posture control operation signal based on a user operation and generates a turning command signal or a posture command signal based on the operation signal,
When the control unit determines that the riding state of the user is unstable based on a signal input from a notification unit that notifies that the riding state of the user is unstable, the control unit The turn command signal is generated so that the response of the turn control is lower than the case where it is determined that the riding state of the user is stable, or the response of the posture control to the operation signal is An inverted moving body that generates the posture command signal so as to be improved as compared with a case where the riding state is determined to be stable.

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