JP2018172057A - Inverted pendulum type vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an inverted pendulum type vehicle capable of controlling drive of a vehicle on the basis of a movement state of a base substance or prescribed external information.SOLUTION: A controller 41 drives, when detection speed by a velocity sensor 47 is 6 km/h, a motor 28 to rotate a lower-left gear 24 and a lower-right gear 34, and rotate a lower-left rotor plate 22 and a lower-right rotor plate 32 so as to integrate the lower-left rotor plate 22 with an upper-left rotor plate 21, and integrate the lower-right rotor plate 32 with an upper-right rotor plate 31. The controller 41 drives a motor 27 to rotate an upper-left gear 23 and an upper-right gear 33 so as to rotate the upper-left rotor plate 21 and the lower-left rotor plate 22, and rotate an upper-right rotor plate 31 and the lower-light rotor plate 32. Based on the control, a left footrest part 9a and a right footrest part 9b rotate until a front position in front of a crewman boarding part 5. In this state, knees of the crewman is extended, therefor, it is difficult that the crewman inclines the upper half of the body to tilt the crewman boarding part 5 forward, thereby decreasing speed of a vehicle 1.SELECTED DRAWING: Figure 8

Description

  The present invention relates to an inverted pendulum type vehicle configured to be movable in all directions on a floor surface.

  For example, an inverted pendulum type vehicle as disclosed in Patent Document 1 is conventionally known. This type of inverted pendulum type vehicle is a vehicle that can move so that its entire center of gravity is kept in a balanced state like the mass of an inverted pendulum.

  Here, the balance state of the overall center of gravity of an inverted pendulum type vehicle (hereinafter sometimes simply referred to as a vehicle) is more specifically, gravity acting on the overall center of gravity and inertial force (centrifugal force) acting on the overall center of gravity. Etc.) and the road surface reaction force that the vehicle receives from the road surface means a state in which a dynamic balance is achieved so that the moment generated in the vehicle (the moment in the direction around the horizontal axis) is zero or almost zero. .

  In this case, for example, the balance state when the vehicle is stopped or during steady straight traveling at a constant speed is such that the overall center of gravity is located immediately above or almost immediately above the ground contact portion of the vehicle. On the other hand, the balance state at the time of turning of the vehicle is such that the overall center of gravity is directly above the grounding part of the vehicle so that the moment generated in the vehicle due to the centrifugal force, which is the inertial force, cancels out the moment generated in the vehicle due to gravity. It will be in the state shifted to the side.

  Such a vehicle includes a base body, an occupant riding portion that can tilt with respect to the base body, and an occupant footrest portion, and is used in a state in which the occupant rides on the occupant riding portion and puts a foot on the footrest portion. The In this occupant boarding state, when the occupant tilts the upper body forward and tilts the occupant riding part forward, the center of gravity moves forward and the vehicle moves forward.

JP 2014-198500 A

  However, in the inverted pendulum type vehicle described in Patent Document 1, the shape of the vehicle cannot be changed based on the movement state of the base or predetermined external information.

  Accordingly, an object of the present invention is to provide an inverted pendulum type vehicle capable of controlling the driving of the vehicle based on the movement state of the base body or predetermined external information.

  An inverted pendulum type vehicle according to the present invention includes a moving operation unit configured to be movable in all directions on a floor surface, a driving device that drives the moving operation unit, the moving operation unit, and the driving device. A base body that is moved by driving of the moving operation part, an occupant boarding part that is assembled to the base body so as to be tiltable with respect to a vertical direction, and an occupant footrest part on which an occupant's feet boarded on the occupant boarding part are placed A state detection unit that detects the state of the occupant boarding unit, a movement control unit that controls the operation of the driving device based on a detection result by the state detection unit, and a movement state detection that detects the movement state of the base body And at least one posture or position of the occupant riding portion and the occupant footrest portion based on a detection result by the moving state detection portion or predetermined external information, and changing the occupant posture Characterized by and a posture change means for reducing the moving speed of the substrate by.

  According to the present invention, the movement of the base body is changed by changing the posture or position of at least one of the occupant riding part and the occupant footrest part based on the movement state of the base body or predetermined external information. The speed can be reduced.

  In addition, the posture changing means may be configured such that when the moving speed of the base body detected by the moving state detecting unit is equal to or higher than a predetermined speed, at least one posture or position of the occupant riding part and the occupant footrest part. It is preferable to reduce the moving speed of the base body by changing the posture of the occupant.

  According to this configuration, when the moving speed of the base body is equal to or higher than a predetermined speed, the base body is changed by changing the posture or position of at least one of the passenger boarding portion and the passenger footrest portion and changing the posture of the passenger. Therefore, it is possible to prevent the inverted pendulum type vehicle from entering an overspeed state.

  And recognizing means for recognizing the surrounding environment, wherein the posture changing means is based on a recognition result of the recognizing means as the predetermined external information, and at least one of the occupant riding part and the occupant footrest part. It is preferable to reduce the moving speed of the base body by changing the posture or position and changing the posture of the occupant.

  According to this configuration, since the moving speed of the base body is reduced based on the recognition result of the recognition means for recognizing the surrounding environment, it is possible to suppress the inverted pendulum type vehicle from contacting an object existing in the vicinity.

It is a perspective view which shows the inverted pendulum type vehicle of embodiment of this invention. It is a side view which shows an inverted pendulum type vehicle. It is a side view which shows an inverted pendulum type vehicle. A is a side view showing an inverted pendulum type vehicle with left and right lower rotating plates protruding, and B is a side view showing an inverted pendulum type vehicle with left and right upper rotating plates and left and right lower rotating plates protruding. FIG. The block diagram which shows the structure of an inverted pendulum type vehicle. It is a perspective view showing an inverted pendulum type vehicle in a state where an occupant is on board and left and right footrests are in a normal position. It is a perspective view which shows the inverted pendulum type vehicle of the state which the passenger | crew got on and moved the gravity center of the inverted pendulum type vehicle to the front. It is a perspective view showing an inverted pendulum type vehicle in a state where an occupant is on board and left and right footrests are in a forward position. It is a side view which shows the inverted pendulum type vehicle of the state which moved the passenger | crew riding part back.

  An embodiment of the present invention will be described with reference to FIGS. First, with reference to FIG.1 and FIG.2, the structure of the inverted pendulum type vehicle in embodiment is demonstrated.

  As shown in FIGS. 1 and 2, the inverted pendulum type vehicle 1 of the present embodiment (hereinafter sometimes simply referred to as the vehicle 1) includes a base body 2, a first moving operation unit 3 that can move on a road surface, and a first moving operation unit 3. 2 movement operation units 4 and an occupant boarding unit 5 on which a user of the vehicle 1 is boarded.

  The 1st movement operation part 3 is a main movement operation part of the vehicle 1, and is comprised so that it can move on a road surface to all directions (arbitrary directions). As an example, the first moving operation units 3 are arranged in an annular core body 6 (hereinafter referred to as an annular core body 6) and equiangular intervals in the circumferential direction of the annular core body 6 (direction around the axis). In this manner, a plurality of annular rollers 7 inserted on the annular core body 6 are provided. In FIG. 2, only some of the rollers 7 are representatively shown.

  Each roller 7 can rotate integrally with the annular core body 6 around the axis of the annular core body 6, and the central axis (annular axis) of the cross section of the annular core body 6 at the position where each roller 7 is disposed. It can be rotated around a tangential axis of the circumference centering on the axis of the core body 6.

  The first moving operation unit 3 having such a structure rotates the annular core body 6 about its axis while the lower roller 7 is in contact with a road surface such as a floor surface or a ground surface of the moving environment of the vehicle 1. It is possible to move in all directions on the road surface by performing one or both of driving and rotationally driving each roller 7 around its axis.

  In the following description, as shown in FIG. 2, the axial center direction of the annular core body 6 when the first moving operation unit 3 is grounded to the road surface so that the axial center of the annular core body 6 is horizontal (see FIG. 2, the direction perpendicular to the paper surface) is the Y-axis direction, the horizontal axis direction orthogonal to the Y-axis direction is the X-axis direction, and the vertical direction is the Z-axis direction. In addition, the X-axis direction, the Y-axis direction, and the Z-axis direction are a front-rear direction, a left-right direction, and a vertical direction (height direction) of the vehicle 1, respectively. The positive directions of the X axis, the Y axis, and the Z axis are the forward direction, left direction, and upward direction of the vehicle 1, respectively.

  The first moving operation unit 3 is assembled to the base 2 so that the annular core 6 can rotate relative to the base 2. In the present embodiment, the base body 2 is provided so as to cover a portion excluding the lower portion of the first moving operation unit 3 that is grounded to the road surface. The annular core body 6 of the first moving operation unit 3 is pivotally supported by the base body 2 so as to be able to rotate relative to the base body 2 around its axis.

  For this reason, in the grounding state of the first moving operation unit 3, the base 2 can tilt in the direction around the Y axis (pitch direction) with the axis of the annular core 6 of the first moving operation unit 3 as a fulcrum. is there. Furthermore, the base body 2 can tilt in the direction around the X axis (roll direction) together with the first movement operation unit 3 with the grounding part (lower part) of the first movement operation unit 3 as a fulcrum.

  A first actuator device 8 that generates a driving force for moving the first moving operation unit 3 is mounted inside the base 2. The first actuator device 8 includes an actuator 8a that rotationally drives the annular core body 6 and an actuator 8b that rotationally drives each roller 7. These actuators 8a and 8b are constituted by, for example, an electric motor, a hydraulic actuator, or the like.

  The actuators 8a and 8b respectively apply a rotational driving force to the annular core body 6 and the rollers 7 via a power transmission mechanism (not shown). The power transmission mechanism may have a known structure.

  An occupant riding part 5 is assembled to the base 2. In the present embodiment, the occupant boarding section 5 is configured by a seat on which a user of the vehicle 1 is seated. The occupant boarding portion 5 is attached to the base body 2 so as to be able to be displaced and tilted, and is displaced and tilted by a control device 41 described later via a displacement mechanism (not shown). A user of the vehicle 1 can sit on the occupant riding section 5 with the front-rear direction in the X-axis direction and the left-right direction in the Y-axis direction.

  The base body 2 is further assembled with a left footrest portion 9a and a right footrest portion 9b on which a user sitting on the occupant riding portion 5 places his / her feet. The left footrest portion 9a and the right footrest portion 9b project from the lower portions of the left and right side portions of the base 2.

  The second movement operation unit 4 is an auxiliary movement operation unit for enabling the vehicle 1 to smoothly turn or change direction, and can move in all directions (any direction) on the road surface. It is configured. In the present embodiment, the second moving operation unit 4 is constituted by, for example, an omni wheel. The omni wheel serving as the second moving operation unit 4 is freely rotatable with a pair of coaxial cores (not shown) and a rotational axis of each annular core toward the circumferential direction of the annular core. And a plurality of barrel-shaped rollers 13 extrapolated to a known structure.

  In this case, the second moving operation unit 4 is disposed behind the first moving operation unit 3 with the axial centers of the pair of annular cores directed in the X-axis direction (front-rear direction). Grounded on the road surface.

  Note that the roller 13 on one side of the pair of annular cores and the roller 13 on the other side are arranged out of phase in the circumferential direction of the annular cores, and when the pair of annular cores rotate. Any one of the roller 13 on one side and the roller 13 on the other side of the pair of annular cores is in contact with the road surface.

  The second moving operation unit 4 having such a configuration is connected to the base body 2 or the first moving operation unit 3. More specifically, the second moving operation unit 4 includes a housing 14 that covers a portion on the upper side of the omni wheel (the pair of annular core bodies and the plurality of rollers 13 as a whole). The pair of annular cores of the omni wheel is pivotally supported by the housing 14 so as to be able to rotate around its axis.

  Further, the base body 2 is arranged such that an arm 15 extending from the housing 14 toward the base body 2 can swing within a predetermined angular range around the axis of the annular core body 6 of the first moving operation unit 3. Or is pivotally supported by the axial center portion of the annular core body 6.

  As a result, the second movement operation unit 4 is moved to the base 2 or the first movement operation unit 3 via the arm 15 so that the second movement operation unit 4 can swing with respect to the base 2 around the axis of the annular core 6. It is connected. Therefore, it is possible to tilt the occupant riding section 5 and the base body 2 in the direction around the Y axis (pitch direction) while both the first moving operation section 3 and the second moving operation section 4 are grounded. It has become.

  Further, the second moving operation unit 4 can tilt in the direction around the X axis (roll direction) together with the first moving operation unit 3 and the base 2.

  The second moving operation unit 4 may be biased by a spring so as to be pressed against the road surface.

  The second moving operation unit 4 configured as described above is similar to the first moving operation unit 3 by performing one or both of the rotation of the pair of annular cores and the rotation of the roller 13. In addition, it is possible to move in all directions (in any direction) on the road surface.

  An actuator 17 that drives the second movement operation unit 4 is attached to the housing 14 of the second movement operation unit 4. In the present embodiment, the actuator 17 is coupled to the pair of annular cores so as to rotationally drive the pair of annular cores of the second moving operation unit 4. The actuator 17 can be constituted by, for example, an electric motor, a hydraulic actuator, or the like.

  Therefore, in the present embodiment, the second moving operation unit 4 can be moved in the Y-axis direction by rotationally driving the pair of annular cores of the second moving operation unit 4 by the actuator 17. Yes. On the other hand, the movement of the second moving operation unit 4 in the X-axis direction (rotation of the roller 13) is performed following the movement of the first moving operation unit 3 in the X-axis direction. ing.

  As shown in FIG. 3, an arc-shaped upper left rotating plate 21, an arc-shaped lower left rotating plate 22, an upper left gear 23, and a lower left gear 24 are disposed inside the base 2.

  The upper left rotating plate 21 is rotatably provided and is attached to the lower left rotating plate 22 so as to be rotatable (slidable). A gear portion that meshes with the upper left gear 23 is formed on the upper surface of the upper left rotating plate 21. Thereby, the upper left rotating plate 21 is rotated by the rotation of the upper left gear 23.

  The lower left rotating plate 22 is rotatably provided, and a left footrest portion 9a is attached to the tip portion. A gear portion that meshes with the lower left gear 24 is formed on the lower surface of the lower left rotating plate 22. Thereby, the lower left rotating plate 22 is rotated by the rotation of the lower left gear 24.

  The upper left gear 23 is rotated by a motor 27 (see FIG. 5) via an upper left transmission mechanism (not shown) that transmits rotational force. The lower left gear 24 is rotated by a motor 28 (see FIG. 5) via a lower left transmission mechanism (not shown).

  Due to the counterclockwise rotation of the lower left gear 24 in FIG. 3, the lower left rotating plate 22 rotates from the normal position shown in FIG. 3 to the position shown in FIG. 4A. When the lower left rotary plate 22 rotates to the position shown in FIG. 4A, the lower left rotary plate 22 is integrated with the upper left rotary plate 21 by a rotary plate lock mechanism (not shown) that can be locked and unlocked.

  When the upper left rotating plate 21 and the lower left rotating plate 22 are integrated, and the upper left gear 23 rotates in the clockwise direction in FIG. 4A, the upper left rotating plate 21 and the lower left rotating plate 22 are moved from the positions shown in FIG. 4A to FIG. 4B. As shown, it rotates to a forward position located in front of the occupant riding part 5. An example of the rotary plate lock mechanism is a click stop mechanism. 4A and 4B, illustration of the annular core body 6 of the first moving operation unit 3 and the roller 13 of the second moving operation unit 4 is omitted.

  Similarly, an arc-shaped upper right rotating plate 31, an arc-shaped lower right rotating plate 32, an upper right gear 33, and a lower right gear 34 are arranged inside the base 2.

  The upper right rotating plate 31 is rotatably provided and is attached to the lower right rotating plate 32 so as to be rotatable (slidable). A gear portion that meshes with the upper right gear 33 is formed on the upper surface of the upper right rotating plate 31. Thereby, the upper right rotating plate 31 is rotated by the rotation of the upper right gear 33.

  A right foot rest portion 9 b is attached to the tip portion of the lower right rotating plate 32. A gear portion that meshes with the lower right gear 34 is formed on the lower surface of the lower right rotating plate 32. Thereby, the lower right rotating plate 32 is rotated by the rotation of the lower right gear 34.

  The upper right gear 33 is rotated by the motor 27 via an upper right transmission mechanism (not shown), and the lower right gear 34 is rotated by the motor 28 via a lower right transmission mechanism (not shown).

  The above is the mechanical configuration of the vehicle 1 in the present embodiment.

  Supplementally, the first moving operation unit 3 and the second moving operation unit 4 that can move in all directions on the road surface, and their drive systems are not limited to those described above, and adopt various types of structures. Can do. For example, as the structure of the first moving operation unit 3 and its drive system, the structure proposed by the applicant of the present application in PCT International Publication No. WO / 2008/132778 or PCT International Publication No. WO / 2008/12779 is used. It may be adopted. The first moving operation unit 3 and the second moving operation unit 4 may have the same structure.

  Although not shown in FIGS. 1 to 4, the vehicle 1 according to the present embodiment includes a CPU, a RAM, a ROM, and an interface circuit as constituent elements for operation control of the vehicle 1 as shown in FIG. 5. A control device 41 composed of an electronic circuit unit including the above, various sensors for observing the operation state or the external state of the vehicle 1, and a general management device (not shown) for controlling the operation of the vehicle 1, or A communication device 48 for performing wireless communication between a mobile terminal (not shown) possessed by a user of the vehicle 1 (smart phone, feature phone, tablet terminal, etc., hereinafter referred to as a user terminal) and the control device 41 is installed. Has been.

  The sensor includes, for example, an inclination sensor 42 for measuring the inclination angle of the occupant riding section 5 with respect to the vertical direction (= the inclination angle of the base 2), and the angular velocity in the yaw direction (around the Z axis) of the vehicle 1. A camera 44 (recognition means) as an external recognition sensor for recognizing an object (person, moving object, installation object, etc.) existing in the surrounding environment of the vehicle 1, A boarding detection sensor 45 for detecting presence / absence, a position sensor 46 for detecting the self-position of the vehicle 1, a speed sensor 47 for detecting the moving speed of the vehicle 1, and the like are included. Outputs (detection data) of these sensors are input to the control device 41.

  Further, the tilt sensor 42 can be configured by a set of an acceleration sensor and a gyro sensor (angular velocity sensor), for example. In this case, the tilt sensor 42 may include a yaw rate sensor 43 as a component sensor.

  Further, as the boarding detection sensor 45, for example, a load sensor that detects a load acting on the passenger boarding portion 5 or the left and right footrest portions 9a and 9b can be used. As the position sensor 46, for example, a GPS sensor or the like can be used.

  The control device 41 has an operation control of the actuators 8a, 8b, and 17 (as a result, the first moving operation unit 3 and the second moving operation) as a function realized by an installed hardware configuration or program (software configuration). The movement control of the unit 4 is performed.

  In this case, the control process executed by the control device 41 is a control process of an operation mode (hereinafter referred to as a boarding operation mode) in a state where a user is on the vehicle 1.

  An outline of the control process in the boarding operation mode will be described below.

  In the boarding operation mode, the control device 41 responds to an operation command of the vehicle 1 by, for example, a weight shift (movement of the center of gravity) of an occupant (a user seated on the occupant riding section 5) or an operation of the occupant's user terminal. Accordingly, the movement of the first movement operation unit 3 and the second movement operation unit 4 is controlled.

  In this case, the movement of the first movement operation unit 3 and the second movement operation unit 4 is controlled so that the vehicle 1 moves or turns at a required movement speed while ensuring a balanced state of the overall center of gravity of the vehicle 1. The In addition, the total center of gravity of the vehicle 1 in the boarding operation mode means more specifically the total center of gravity of the vehicle 1 and the occupant. In addition, the balance of the overall center of gravity is a dynamic balance where the overall center of gravity does not diverge from the ground contact point (not separated) if the vehicle moving speed and turning speed are kept constant. Means state.

  Specific control processing of the control device 41 in the boarding mode is performed as follows, for example. That is, the control device 41 has a predetermined control processing cycle, for example, by the following equations (1a) and (1b), the translational acceleration target value DVw1_cmd_x of the first moving motion unit 3 and the Y-axis direction By determining the target value DVw1_cmd_y of the translational acceleration and controlling the actuators 8a and 8b so as to realize the translational movement speed (target value) obtained by integrating these target values, the first moving operation unit 3 Control movement.

DVw1_cmd_x = Kvb_x ・ (Vb_cmd_x−Vb_act_x)
+ Kth_y ・ (θb_cmd_y−θb_act_y)
-Kw_y ・ ωb_act_y (1a)
DVw1_cmd_y = Kvb_y ・ (Vb_cmd_y−Vb_act_y)
+ Kth_x ・ (θb_cmd_x−θb_act_x)
−Kw_x · ωb_act_x (1b)

  Here, Vb_cmd_x on the right side of the expression (1a) is a target value of the translational movement speed in the X-axis direction of the entire center of gravity of the vehicle 1, Vb_act_x is an actual translational movement speed in the X-axis direction of the entire center of gravity of the vehicle 1, and θb_cmd__y. Is the target value of the inclination angle in the direction around the Y axis (pitch direction) of the occupant riding part 5 (or base 2), and θb_act__y is the actual value in the direction around the Y axis (pitch direction) of the occupant riding part 5 (or base 2). Is an inclination angle, ωb_act_y is a temporal change rate (inclination angular velocity) of an actual inclination angle in the direction around the Y axis (pitch direction) of the occupant riding part 5 (or base 2), and Kvb_x, Kth_y, and Kw_y are predetermined values, respectively. Gain (feedback gain).

  Further, Vb_cmd_y on the right side of the equation (1b) is a target value of the translational movement speed in the Y-axis direction of the entire center of gravity of the vehicle 1, Vb_act_y is an actual translational movement speed in the Y-axis direction of the entire center of gravity of the vehicle 1, and θb_cmd__x is , The target value of the inclination angle in the direction around the X axis (roll direction) of the occupant riding part 5 (or base 2), θb_act__x is the actual value in the direction around the X axis (roll direction) of the occupant riding part 5 (or base 2) The inclination angle, ωb_act_x is the temporal change rate (inclination angular velocity) of the actual inclination angle in the direction around the X axis (roll direction) of the occupant riding part 5 (or the base body 2), and Kvb_y, Kth_x, Kw_x are predetermined values, respectively. Gain (feedback gain).

  In this case, measured values indicated by the output of the tilt sensor 42 can be used as values of the actual tilt angles θb_act_x and θb_act_y and their temporal change rates (tilt angular velocities) ωb_act_x and ωb_act_y.

  Further, as the values of the actual translational movement speeds Vb_act_x and Vb_act_y of the entire center of gravity, for example, estimated values calculated by the following expressions (2a) and (2b) can be used.

Vb_act_x = Vw1_act_x + h · ωb_act_x (2a)
Vb_act_y = Vw1_act_y + h · ωb_act_y (2b)

  Vw1_act_x is the actual translation movement speed in the X-axis direction of the first movement operation unit 3, Vw1_act_y is the actual translation movement speed in the Y-axis direction of the first movement operation unit 3, and h is the height of the overall center of gravity ( Set value). As the values of Vw1_act_x and Vw1_act_y, measured values by appropriate sensors can be used. Alternatively, as the pseudo estimated values of Vw1_act_x and Vw1_act_y, it is also possible to use the translation speed target values (DVw1_cmd_x and DVw1_cmd_y respectively integrated values) determined in the previous control processing cycle of the control device 41.

  Further, as the target values Vb_cmd_x and Vb_cmd_y of the translational movement speed of the entire center of gravity in the expressions (1a) and (1b), for example, an estimated value of the movement amount of the occupant's center of gravity (the relative movement amount with respect to the occupant riding section 5). The value determined according to this, the command value set by the occupant according to the operation of the user terminal or the like, or the combined value thereof can be used.

  In addition, as the target values θb_cmd_x and θb_cmd_y of the tilt angle, values of tilt angles that can ensure the balance state of the entire center of gravity while the translational movement speeds Vb_act_x and Vb_act_y of the entire center of gravity are set to the target values can be used.

  In this case, the target values θb_cmd_x and θb_cmd_y of the inclination angle are the passenger riding parts 5 (in the state where the overall center of gravity is directly above (or almost immediately above) the ground contact part of the first moving action part 3 when the vehicle 1 travels straight ahead. Or the inclination angle of the base body 2), and when the vehicle 1 turns, the moment generated in the vehicle 1 due to the centrifugal force acting on the entire center of gravity and the moment generated in the vehicle 1 due to the gravity acting on the entire center of gravity are balanced. Is the inclination angle of the occupant riding part 5 (or the base 2).

  Note that the target values θb_cmd_x and θb_cmd_y of the tilt angles can be temporarily set to values shifted from the tilt angle values that can ensure the balance state of the entire center of gravity.

  Further, in the boarding operation mode, the control device 41 determines a target value Vw2_cmd_y of the translational movement speed in the Y-axis direction of the second movement operation unit 4 of the vehicle 1 by the following equation (3), for example, and this target value The movement of the second moving operation unit 4 is controlled by controlling the actuator 17 so as to realize the above.

Vw2_cmd_y = Vw1_cmd_y−L · ωcmd_z (3)

  Here, Vw1_cmd_y on the right side of the equation (3) is a translational movement speed (target) obtained by integrating the target value DVw1_cmd_y of the translational acceleration in the Y-axis direction of the first moving motion unit 3 calculated by the equation (1b). Value), ωcmd_z is the target value of the angular velocity in the direction around the Z axis (yaw direction) of the vehicle 1, and L is between the grounding portion of the first moving motion unit 3 and the grounding portion of the second moving motion unit 4. Is the default distance.

  From the above equation (3), the target value Vw2_cmd_y of the translational movement speed in the Y-axis direction of the second movement operation unit 4 is determined by the speed difference from the translational movement speed of the first movement operation unit 3 in the Y-axis direction. 1 is determined so as to realize the target value ωcmd_z of the angular velocity in the yaw direction.

  In this case, as the target value ωcmd_z of the angular velocity, for example, a value determined according to an estimated value of the movement amount of the center of gravity of the occupant in the Y-axis direction, or a target value of the translational movement speed of the entire center of gravity in the Y-axis direction Alternatively, the value determined according to the detected value, the value determined according to the target value or detected value of the translational movement speed of the first moving motion unit 3 in the Y-axis direction, or the occupant operating the portable terminal The command value etc. set according to etc. can be used.

  The target value ωcmd_z of the angular velocity is such that the turning center of the vehicle 1 exists in the grounding portion of the first movement operation unit 3 or the grounding unit and the second movement operation unit of the first movement operation unit 3. It is preferable to set so as to exist between the four grounding portions. Then, as the target value or detected value of the translational movement speed in the X-axis direction of the first movement operation unit 3 is smaller, the angular velocity is set such that the turning center of the vehicle 1 approaches the grounding part of the first movement operation unit 3. It is preferable to set a target value ωcmd_z.

  Supplementally, when ωcmd_z = 0, the target value Vw2_cmd_y of the translational movement speed in the Y-axis direction of the second movement operation unit 4 calculated by the equation (3) is the Y-axis of the first movement operation unit 3. This coincides with the target value Vw1_cmd_y of the translational movement speed in the direction. Therefore, when ωcmd_z = 0, that is, when the vehicle 1 travels straight, the second movement operation unit 4 is controlled to move at the same translational movement speed as that of the first movement operation unit 3.

  In the boarding operation mode, the movement control of the first movement operation unit 3 and the second movement operation unit 4 is performed as described above.

  Supplementally, as a technique for more detailed operation control of the vehicle 1 in the boarding operation mode or the like, for example, the technique proposed by the applicant of the present application in Patent Document 1 or the like may be employed. However, the method of operation control of the vehicle 1 in the boarding operation mode is not limited to the above method, and may be another method. The operation control method of the vehicle 1 may be any method as long as the vehicle 1 can be moved so that the balance state of the overall center of gravity of the vehicle 1 can be secured.

  As shown in FIG. 6, in the boarding operation mode, the user of the vehicle 1 gets on the vehicle 1. Then, as shown in FIG. 7, when the occupant wants to increase the moving speed of the vehicle 1, the occupant moves the center of gravity of the vehicle 1 in the forward direction. As an operation of moving the center of gravity forward, the occupant performs an operation of tilting the upper body forward and tilting the occupant riding section 5 forward.

  In the vehicle 1, when the speed detected by the speed sensor 47 becomes equal to or higher than a predetermined speed (for example, 6 km / h) in the state shown in FIG. In this control, the control device 41 drives the motor 28 to rotate the lower left gear 24 and the lower right gear 34 counterclockwise in FIG. 3, and the lower left rotating plate 22 and the lower right rotating plate 32 are shown in FIG. Rotate from the position to the position shown in FIG. 4A. When the lower left rotary plate 22 and the lower right rotary plate 32 rotate to the position shown in FIG. 4A, the lower left rotary plate 22 is integrated with the upper left rotary plate 21 by the rotary plate lock mechanism, and the lower right rotary plate 32 is connected to the upper right rotary plate 31. Integrated.

  In such an integrated state, the control device 41 drives the motor 27 to rotate the upper left gear 23 and the upper right gear 33 in the clockwise direction in FIG. 4A, and the upper left rotating plate 21 and the lower left rotating plate 22, The upper right rotating plate 31 and the lower right rotating plate 32 are rotated from the position shown in FIG. 4A to the front position shown in FIG. 4B. By such control, the left footrest portion 9a and the right footrest portion 9b rotate from the normal position shown in FIGS. 6 and 7 to a forward position located in front of the occupant riding portion 5 as shown in FIG.

  In the state shown in FIG. 8, the occupant's knees are extended, and in this posture, it is difficult for the occupant to tilt the occupant riding part 5 forward by tilting the upper body forward due to the nature of the human musculoskeletal. It becomes. More specifically, when the knee joint is extended, a force to bend the hip joint is generated by the hamstrings, which are biarticular muscles. Therefore, the occupant riding part 5 can be tilted forward by tilting the upper body forward. It becomes difficult. Therefore, the speed of the vehicle 1 can be reduced. That is, the speed limiter is activated, and the overspeed of the vehicle 1 can be suppressed. In the state shown in FIG. 8, since the occupant may fall back, in order to prevent this, a member such as a backrest may be provided on the back side of the occupant. 7 may be stored in the base 2 at the normal time and protrude from the base 2 when the state shown in FIG. 8 is reached.

  Further, in the vehicle 1, when the speed detected by the speed sensor 47 is less than 6 km / h in the state shown in FIG. 8, the vehicle 1 is controlled to return to the state shown in FIG. 6. In this control, the control device 41 drives the motor 27 to rotate the upper left gear 23 and the upper right gear 33 in the counterclockwise direction in FIG. 4B, and the upper left rotating plate 21 and the upper right rotating plate 31 from the positions shown in FIG. 4B. Rotate to the position shown in FIG. 4A. Note that the state shown in FIG. 8 may be controlled to return to the state shown in FIG. 6 after keeping for a predetermined time (for example, 0.1 second). Even in this case, the speed of the vehicle 1 can be reduced.

  When the upper left rotating plate 21 and the upper right rotating plate 31 rotate to the position shown in FIG. 4A, the lock by the rotating plate lock mechanism is released, and the upper left rotating plate 21 and the lower left rotating plate 22 are integrated, and the upper right rotating plate 31 and Integration with the lower right rotating plate 32 is released. In a state where this integration is released, the control device 41 drives the motor 28 to rotate the lower left gear 24 and the lower right gear 34 in the clockwise direction in FIG. 4A, and the lower left rotating plate 22 and the lower right rotating plate 32. Is rotated from the position shown in FIG. 4A to the position shown in FIG. As a result, the state shown in FIG. 6 is obtained.

  The displacement mechanism for displacing the left footrest portion 9a and the right footrest portion 9b between the normal position and the front position is not limited to the mechanism of the above embodiment, and can be changed as appropriate. For example, a driving roller and a driven roller A motor that rotates the driving roller and a belt that is stretched between two rollers and to which the left footrest portion 9a and the right footrest portion 9b are attached may be used.

  Further, it is only necessary to change the knee of the occupant riding the vehicle 1 between a bent state and an extended state, and without providing a displacement mechanism for displacing the left footrest portion 9a and the right footrest portion 9b, A pressing member that presses the lower portion (for example, the calf) may be provided, and the pressing member may change the occupant's knee between a bent state and an extended state.

  In the above embodiment, when the speed detected by the speed sensor 47 is 6 km / h or more, the left footrest portion 9a and the right footrest portion 9b are rotated from the normal position to the front position. For example, the left footrest portion 9a and the right footrest portion 9b may be displaced from the normal position in the inward direction and the rearward direction, respectively. Even in this case, it is difficult for the occupant to tilt the upper body forward, and it is difficult to tilt the occupant riding section 5 forward as compared to the normal time. Thereby, the speed of the vehicle 1 can be reduced.

  Further, when the speed detected by the speed sensor 47 becomes 6 km / h or higher, the control device 41 moves the occupant riding section 5 backward via the displacement mechanism as shown in FIG. Good. When the occupant boarding part 5 moves backward, the occupant also moves backward. As a result, the center of gravity of the vehicle 1 moves backward, and the speed of the vehicle 1 can be reduced.

  Furthermore, when the speed detected by the speed sensor 47 is 6 km / h or higher, the control device 41 may tilt the occupant riding portion 5 backward via the displacement mechanism. When the occupant riding part 5 tilts backward, the occupant also tilts backward. As a result, the center of gravity of the vehicle 1 moves backward, and the speed of the vehicle 1 can be reduced.

  Further, when the speed detected by the speed sensor 47 is 6 km / h or more, the control device 41 may tilt the occupant riding part 5 forward via the displacement mechanism. When the occupant riding part 5 tilts forward, the occupant also tilts forward. For this reason, in order to prevent a passenger | crew from falling from the vehicle 1, it inclines backward. As a result, the center of gravity of the vehicle 1 moves backward, and the speed of the vehicle 1 can be reduced.

  Furthermore, the left footrest portion 9a and the right footrest portion 9b are provided so as to be able to rotate (rotate) around the left-right direction, and the control device 41 has a speed detected by the speed sensor 47 of 6 km / h or more. The left footrest portion 9a and the right footrest portion 9b may be rotated so that the toes of the occupant face upward while the upper left rotating plate 21 and the upper right rotating plate 31 are rotated to the positions shown in FIG. 4A. Even in this case, it becomes difficult for the occupant to tilt the upper body forward, and it becomes difficult to tilt the occupant riding section 5 forward. Thereby, the speed of the vehicle 1 can be reduced. In this embodiment, the lower left rotating plate 22, the lower left gear 24, the lower right rotating plate 32, the lower right gear 34, and the motor 28 are unnecessary.

  In addition, the control device 41 determines whether the occupant boarding unit 5, the left footrest portion 9 a, and the right footrest portion correspond to an object (a person, a moving object, an installed object, etc.) present in the surrounding environment of the vehicle 1 recognized by the camera 44. You may make it reduce the speed of the vehicle 1 by changing an attitude | position or position of at least one with 9b, and changing a passenger | crew's attitude | position. Thereby, the time until the vehicle 1 reaches the object existing in the surrounding environment can be lengthened, and the time for the occupant to operate the vehicle 1 so that the vehicle 1 does not contact the object existing in the surrounding environment. Can also be long.

  Further, the control device 41 detects that the occupant riding part 5 and the left foot are placed in response to the failure of at least one of the inclination sensor 42, the yaw rate sensor 43, the camera 44, the boarding detection sensor 45, the position sensor 46, and the speed sensor 47. You may make it reduce the speed of the vehicle 1 by changing the attitude | position or position of at least one with the part 9a and the right footrest part 9b, and changing a passenger | crew's attitude | position.

DESCRIPTION OF SYMBOLS 1 ... Inverted pendulum type vehicle, 2 ... Base | substrate, 3 ... 1st movement operation part, 4 ... 2nd movement operation part, 5 ... Passenger boarding part, 8a, 8b, 17 ... Actuator apparatus (drive device), 9a ... Left foot rest, 9b ... Right foot rest, 21 ... Upper left rotating plate, 22 ... Lower left rotating plate, 23 ... Upper left gear, 24 ... Lower left gear, 27, 28 ... Motor, 31 ... Upper right rotating plate, 32 ... Lower right rotating plate , 33 ... upper right gear, 34 ... lower right gear, 41 ... control device (movement control means, attitude changing means), 42 ... tilt sensor (state detection unit), 43 ... yaw rate sensor (state detection unit), 44 ... camera ( Recognition means), 47... Speed sensor (moving state detection unit)

Claims (3)

A moving operation unit configured to be movable in all directions on the floor surface;
A driving device for driving the moving operation unit;
A base that is assembled with the moving operation unit and the driving device and moves by driving the moving operation unit;
An occupant riding part assembled to the base body so as to be tiltable with respect to the vertical direction;
An occupant footrest part on which an occupant's foot that has boarded the occupant boarding part is placed;
A state detection unit for detecting the state of the passenger boarding unit;
Based on the detection result by the state detection unit, a movement control means for controlling the operation of the drive device;
A moving state detecting unit for detecting a moving state of the substrate;
Based on the detection result by the movement state detection unit or predetermined external information, at least one posture or position of the occupant boarding unit and the occupant footrest unit is changed, and the posture of the occupant is changed to change the base body. Posture changing means for reducing the movement speed of
An inverted pendulum type vehicle characterized by comprising: The inverted pendulum type vehicle according to claim 1,
The posture changing means is configured to position or position at least one of the occupant riding portion and the occupant footrest portion when the moving speed of the base body detected by the moving state detecting portion is equal to or higher than a first predetermined speed. An inverted pendulum type vehicle characterized in that the moving speed of the base body is reduced by changing the posture of the occupant. In the inverted pendulum type vehicle according to claim 1 or 2,
It has a recognition means to recognize the surrounding environment,
The posture changing means changes the posture or position of at least one of the occupant boarding portion and the occupant footrest portion based on the recognition result of the recognition means as the predetermined external information, and changes the posture of the occupant. An inverted pendulum type vehicle characterized in that the moving speed of the base body is lowered by changing.