JP2019038339A - Inverted pendulum movable body - Google Patents

Abstract

To prevent an occupant from falling down even when a power supply switch wrongly operates.SOLUTION: An inverted pendulum movable body is configured to run by driving of a motor by power from a storage cell. The movable body includes a drive control unit configured to control the motor to drive, a state determination unit configured to determine whether running of the inverted pendulum movable body can be stopped, and a power supply switch operable from the outside. The drive control unit controls the motor to drive in accordance with the combination of an operation state of the power supply switch and a determination result by the state determination unit.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an inverted pendulum type moving body.

  The following Patent Document 1 describes an inverted pendulum type moving body that moves while maintaining an inverted posture by executing inverted pendulum control. Generally, the inverted pendulum type moving body is provided with a power switch for turning on and off the main power.

JP 2011-63161 A

  By the way, when the main power is turned off by the power switch, the inverted pendulum control of the inverted pendulum type moving body cannot be continued. Therefore, when the inverted pendulum type moving body is moving, that is, during the inverted pendulum control, if the passenger accidentally operates the power switch or the main power is turned off by a third party, or the main power switch or power line is disconnected. In such a case, the inverted pendulum control stops immediately, and the passenger may fall down.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide an inverted pendulum type moving body that can suppress a passenger's falling even when a power switch is erroneously operated. is there.

  One aspect of the present invention is an inverted pendulum type moving body that travels by driving a motor with electric power from a storage battery, the drive control unit that controls driving of the motor, and the inverted pendulum type moving body stops traveling A state determination unit that determines whether or not it is possible, and a power switch that can be operated from the outside, wherein the drive control unit includes an operation state of the power switch and a determination result of the state determination unit The inverted pendulum type moving body is characterized in that the driving of the motor is controlled according to the combination.

  One aspect of the present invention is the above-described inverted pendulum type moving body, wherein the drive control unit is in a state where the power switch is operated in an off state and the inverted pendulum type moving body can stop running. When it is determined, the driving of the motor is stopped.

  One aspect of the present invention is the inverted pendulum type moving body described above, further including a rotation detection sensor that detects the rotation of the motor, and the state determination unit detects the rotation of the motor. If not, it is determined that the inverted pendulum type moving body is in a state where the traveling can be stopped.

  One aspect of the present invention is the above-described inverted pendulum type moving body including a boarding unit and a boarding sensor that detects boarding of the boarding unit, and the state determination unit is configured such that the boarding sensor includes the boarding sensor. When the boarding of the part is not detected, it is determined that the inverted pendulum type moving body is in a state where the traveling can be stopped.

  One aspect of the present invention is the above-described inverted pendulum type moving body, the stand that supports the inverted pendulum type moving body in the inverted state by being in the standing state, and the stand state detection that detects the standing state of the stand A sensor, and the state determination unit determines that the inverted pendulum type moving body is in a state where the traveling can be stopped when the stand state detection sensor detects the standing state of the stand. And

  One aspect of the present invention is the inverted pendulum type moving body described above, wherein the drive control unit stops driving the motor by stopping output of a drive signal for driving the motor at a predetermined rotational speed. To stop.

  As described above, according to the present invention, even when an erroneous operation of the power switch occurs, the passenger can be prevented from falling.

It is a figure which shows an example of schematic structure of the inverted pendulum type mobile body A which concerns on one Embodiment of this invention. It is a flowchart of the operation | movement which the inverted pendulum type mobile body A which concerns on one Embodiment of this invention starts driving | running | working. It is a flowchart of the operation | movement in which the inverted pendulum type mobile body A which concerns on one Embodiment of this invention stops driving | running | working.

  Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. In addition, not all the combinations of features described in the embodiments are essential for the solving means of the invention. In the drawings, the same or similar parts may be denoted by the same reference numerals and redundant description may be omitted. In addition, the shape and size of elements in the drawings may be exaggerated for a clearer description.

  In the entire specification, when a part includes a component, “includes”, “have”, or “comprises”, this does not exclude other components unless otherwise stated. This means that it can further include the following components.

  Hereinafter, an inverted pendulum type moving body according to an embodiment of the present invention will be described with reference to the drawings.

  The inverted pendulum type moving body A according to an embodiment of the present invention can be driven by wheels provided on the left and right sides of the base. That is, the inverted pendulum type moving body A is a coaxial two-wheeled vehicle provided with a pair of wheels arranged on the same axis.

  This inverted pendulum type moving body A is a coaxial two-wheeled vehicle that travels while maintaining an inverted state, and can be moved back and forth and left and right by moving the center of gravity of the passenger. For example, the inverted pendulum type moving body A includes a riding section, and a user (passenger) who rides on the riding section moves forward and backward by tilting the riding section back and forth. In the inverted pendulum type moving body A, the rider turns left and right by tilting the boarding portion left and right. In addition, the boarding part may be a step part that is attached to the base and on which the user places the foot part, or may be a seating part that is attached to the base and that can be seated by the user.

  FIG. 1 is a diagram illustrating an example of a schematic configuration of an inverted pendulum type moving body A according to an embodiment of the present invention. As shown in FIG. 1, an inverted pendulum type moving body A includes a storage battery 1, a BMU (battery management system) 2, a power switch 3, an inclination sensor 4, a boarding sensor 5, a stand state detection sensor 6, a motor 7, and a rotation detection sensor. 8 and a control device 9.

The storage battery 1 can be a secondary battery such as a nickel metal hydride battery or a lithium ion battery. Moreover, the storage battery 1 can also use an electrical double layer capacitor (capacitor) instead of a secondary battery.
The electric power stored in the storage battery 1 is used as the main power source (operating power source) of the inverted pendulum type moving body A. That is, the inverted pendulum type moving body A travels by receiving power supply from the storage battery 1.

  The BMU 2 controls charging / discharging of the storage battery 1. For example, the BMU 2 controls charging / discharging of the storage battery 1 based on a command from the control device 9 acquired by communicating with the control device 9 wirelessly or by wire.

  Further, the BMU 2 may manage battery information such as voltage, current, temperature, SOC (State Of Charge) value, internal resistance, and charge / discharge integrated current of the storage battery 1.

  The power switch 3 is a switch that can be operated from the outside. When the power switch 3 is operated from the outside, the power switch 3 transmits a signal indicating the operation to the BMU 2 and the control device 9. For example, when the user runs the inverted pendulum type moving body A, the user operates the power switch 3 to be turned on. Thereby, the power switch 3 transmits an ON state signal indicating the ON state to the BMU 2 and the control device 9. On the other hand, when the user stops the traveling of the inverted pendulum type moving body A, the user operates the power switch 3 in the off state. As a result, the power switch 3 transmits an off state signal indicating the off state to the BMU 2 and the control device 9.

The tilt sensor 4 is provided on the base of the inverted pendulum type moving body A, for example. The tilt sensor 4 is electrically connected to the control device 9.
The tilt sensor 4 detects changes in tilt angle and angular velocity of the inverted pendulum type moving body A. Then, the inclination sensor 4 transmits the detection result to the control device 9. For example, the tilt sensor 4 includes a gyro sensor and an acceleration sensor.

  The boarding sensor 5 is electrically connected to the control device 9. The boarding sensor 5 detects boarding of the boarding unit. Then, the boarding sensor 5 transmits the detection result to the control device 9. For example, the boarding sensor 5 is a load sensor, an infrared sensor, or the like.

The stand state detection sensor 6 is electrically connected to the control device 9. The stand state detection sensor 6 detects the standing state of the stand. For example, the stand state detection sensor 6 is a limit switch provided on the stand. Here, the stand is to support the inverted pendulum type moving body A in an inverted state by being in an upright state. This stand supports the inverted pendulum type moving body A in the inverted state by, for example, being operated in an upright state by the user when the inverted pendulum type moving body A is not running.
When the stand state detection sensor 6 detects the standing state of the stand, the detection result is transmitted to the control device 9.

  Each motor 7a, 7b independently rotates and drives a plurality of wheels arranged on the same axis. Specifically, the motor 7a rotationally drives one of the plurality of wheels based on the first drive signal output from the control device 9. The motor 7b rotationally drives the other wheel among the plurality of wheels based on the second drive signal output from the control device 9. When the motors 7a and 7b are not distinguished from each other, they are simply referred to as “motor 7”.

  The rotation detection sensor 8 a is electrically connected to the control device 9. The rotation detection sensor 8a detects the rotation of the motor 7a. The rotation detection sensor 8a transmits a signal indicating that the rotation of the motor 7a has been detected to the control device 9. For example, the rotation detection sensor 8a transmits a pulse signal corresponding to the rotation of the motor 7a to the control device 9.

  The rotation detection sensor 8b is electrically connected to the control device 9. The rotation detection sensor 8b detects the rotation of the motor 7b. The rotation detection sensor 8b transmits a signal indicating that the rotation of the motor 7b has been detected to the control device 9. For example, the rotation detection sensor 8b transmits a pulse signal corresponding to the rotation of the motor 7b to the control device 9.

  The rotation detection sensors 8a and 8b include, for example, magnetic encoders. When the rotation detection sensors 8a and 8b are not distinguished from each other, they are simply referred to as “rotation detection sensor 8”.

The control device 9 is, for example, a PDU (power drive unit) that controls driving of the motors 7a and 7b. Below, the structure of the control apparatus 9 is demonstrated.
The control device 9 includes a control unit 10 and a drive unit 11. The control unit 10 includes a state determination unit 111 and a drive control unit 112.

The state determination unit 111 determines whether or not the inverted pendulum type moving body A is in a state in which traveling can be stopped. The state in which traveling can be stopped is a state in which safety can be ensured even when driving of the motor 7 is stopped. The safety is, for example, safety that prevents the passenger of the inverted pendulum type moving body A from falling.
For example, the state determination unit 111 determines that the inverted pendulum type moving body A is in a state in which traveling can be stopped in the following cases.
(1) The rotation detection sensor 8 does not detect the rotation of the motor 7.
(2) The boarding sensor 5 has not detected boarding in the boarding section.
(3) When the stand state detection sensor 6 detects the standing state of the stand.

  The state determination unit 111 determines that the inverted pendulum type moving body A is in a state in which traveling can be stopped in at least one of (1) to (3). However, in this embodiment, from the viewpoint of safety, the state determination unit 111 determines that the inverted pendulum type moving body A is in a state in which traveling can be stopped when all of (1) to (3) are established. To do.

  The drive control unit 112 controls driving of the motors 7a and 7b, respectively. For example, when the power switch 3 is operated to the on state, the drive control unit 112 acquires the change in the tilt angle and the angular velocity of the inverted pendulum type moving body A acquired from the tilt sensor 4. Then, the drive control unit 112 drives the motor 7 so as to stabilize the posture of the inverted pendulum type moving body A based on the change in the tilt angle and the angular velocity of the inverted pendulum type moving body A acquired from the tilt sensor 4. Control. This control is called inverted pendulum control.

  The drive control unit 112 generates a control signal for performing the inverted pendulum control based on the change in the tilt angle and the angular velocity of the inverted pendulum type moving body A acquired from the tilt sensor 4 and transmits the control signal to the drive unit 11.

  Further, the drive control unit 112 controls the driving of the motor 7 according to the combination of the operation state of the power switch 3 and the determination result of the state determination unit 111. Specifically, the drive control unit 112 operates the motor 7 when the power switch 3 is operated to be in an off state and the state determination unit 111 determines that the inverted pendulum type moving body A is in a state in which traveling can be stopped. Stop driving. Therefore, even when the power switch 3 is operated in the off state, the drive control unit 112 is a motor when the state determination unit 111 does not determine that the inverted pendulum type moving body A is in a state in which traveling can be stopped. 7 is not stopped.

When the power switch 3 is operated in the OFF state and the state determination unit 111 determines that the inverted pendulum type moving body A is in a state in which traveling can be stopped, the drive control unit 112 controls the drive unit 11. Stop sending
Then, when the drive of the motor 7 is stopped, the drive control unit 112 transmits a stop completion signal to the BMU 2.

  Below, operation | movement of the inverted pendulum type mobile body A which concerns on one Embodiment of this invention is demonstrated. First, the operation for starting the traveling of the inverted pendulum type moving body A will be described. FIG. 2 is a flowchart of an operation in which the inverted pendulum type moving body A according to the embodiment of the present invention starts traveling.

For example, when the power switch 3 is operated to the on state, the power switch 3 transmits an on state signal to the BMU 2 and the control device 9 (step S101).
When the BMU 2 acquires the ON state signal, the BMU 2 is activated by the power of the storage battery 1 (step S102). And BMU2 permits discharge of the storage battery 1 (step S103). For example, the BMU 2 permits the discharge from the storage battery 1 to the control device 9 by controlling the power supply switch provided between the output of the storage battery 1 and the control device 9 to be in an on state.

  The control device 9 is activated by the power supplied by being discharged from the storage battery 1 (step S104). And the control apparatus 9 drives the motor 7 according to a passenger | crew's gravity center movement (step S105).

Next, the operation in which the inverted pendulum type moving body A according to the embodiment of the present invention stops traveling will be described. FIG. 3 is a flowchart of an operation in which the inverted pendulum type moving body A according to the embodiment of the present invention stops traveling.
Here, the feature and one of the inverted pendulum type moving body A according to the embodiment of the present invention is that the power switch 3 is erroneously turned off when the inverted pendulum type moving body A performs the inverted pendulum control. Even if it is operated, the passenger can be prevented from falling.

For example, when the power switch 3 is operated to the off state, the power switch 3 transmits an off state signal to the BMU 2 and the control device 9 (step S201).
The state determination unit 111 determines the state of the power switch 3. Specifically, the state determination unit 111 determines whether or not the signal from the power switch 3 is an off state signal (step S202). If the state determination unit 111 determines that the signal from the power switch 3 is not an off state signal, that is, an on state signal, the state determination unit 111 executes the process of step S202 again.

  On the other hand, if the state determination unit 111 determines that the signal from the power switch 3 is an off state signal, the state determination unit 111 determines whether or not the motor 7 is rotating (step S203). In accordance with the pulse signal from the rotation detection sensor 8, it is determined whether or not the motor 7 is rotating.

  Specifically, the state determination unit 111 calculates the rotation speed of the motor 7 based on the pulse signal from the rotation detection sensor 8, and if the calculated rotation speed is equal to or greater than a predetermined value, the motor 7 rotates. It is determined that In this case, the drive control unit 112 does not stop the motor 7 on the assumption that the inverted pendulum type moving body A is traveling and cannot be stopped. And the state determination part 111 returns to the process of step S202.

  On the other hand, the state determination unit 111 determines that the motor 7 is not rotating when the calculated rotation speed is less than a predetermined value. And when it determines with the motor 7 not rotating, the state determination part 111 will determine whether there is a passenger in the inverted pendulum type mobile body A (step S204).

  For example, the state determination unit 111 determines that there is a passenger in the inverted pendulum type moving body A when the boarding sensor 5 detects boarding of the boarding unit. In this case, the drive control unit 112 does not stop the motor 7 because the passenger may fall if the inverted pendulum type moving body A is stopped. And the state determination part 111 returns to the process of step S202. When the inverted pendulum type moving body A is stopped, the rider may fall down, which corresponds to a state in which traveling cannot be stopped.

  On the other hand, the state determination unit 111 determines that there is no passenger in the inverted pendulum type moving body A when the boarding sensor 5 does not detect boarding of the boarding unit. Then, when it is determined that there is no passenger in the inverted pendulum type moving body A, the state determination unit 111 determines whether or not the stand is in the standing state (step S205).

  For example, the state determination unit 111 determines that the stand is not in the standing state when the stand state detection sensor 6 does not detect the standing state of the stand. In this case, the drive control unit 112 does not stop the motor 7 because the inverted pendulum type moving body A may be traveling. And the state determination part 111 returns to the process of step S202. In addition, when there exists a possibility that the inverted pendulum type mobile body A is traveling, it corresponds to a state in which traveling cannot be stopped.

  On the other hand, when the stand state detection sensor 6 detects the standing state of the stand, the state determination unit 111 determines that the stand is in the standing state. When the state determination unit 111 determines that the stand is in the standing state, the state determination unit 111 determines that the inverted pendulum type moving body A is in a state in which traveling can be stopped. Accordingly, the drive control unit 112 stops outputting the control signal and stops driving the motor 7 (step S206).

If the state determination unit 111 detects the stop of the motor 7 based on the pulse signal from the rotation detection sensor 8, the state determination unit 111 transmits a stop completion signal to the BMU 2 (step S207).
When the BMU 2 acquires a stop completion signal from the state determination unit 111, the BMU 2 controls the power supply switch to an off state, thereby prohibiting the storage battery 1 from discharging. Thereby, the power supply from the storage battery 1 is stopped, and the main power supply of the inverted pendulum type moving body A is turned off (blocked) (step S208).

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and includes designs and the like that do not depart from the gist of the present invention.

(Modification 1) In the above embodiment, the inverted pendulum type moving body A has been described with respect to the case of a coaxial two-wheel vehicle wheel having a pair of wheels arranged on the same axis, but is not limited thereto. For example, the inverted pendulum type moving body A may be a unicycle that can move in all directions.

(Modification 2) In the above embodiment, the control device 9 stops driving the motor 7, but the present invention is not limited to this. For example, the BMU 2 controls the power supply switch to the off state when the power switch 3 is operated in the off state and it is determined that the inverted pendulum type moving body A can be stopped. 7 may be stopped.

(Modification 3) In the above embodiment, the control device 9 does not hold at least one of the above-described (1) to (3) until a predetermined time elapses after the power switch 3 is operated to be turned off. In this case, it may be determined that the inverted pendulum type moving body A is out of order. The control device 9 may register the failure history in a storage unit (not shown).

(Modification 4) In the above-described embodiment, the inverted pendulum type moving body A can be used after at least one of the above-described (1) to (3) is established even if the power switch 3 is not operated in the off state. When the predetermined time has elapsed, the main power supply may be turned off. As a result, it is possible to prevent the power switch 3 from being forgotten to be turned off or to omit the operation of operating the power switch 3 in the off state.

(Modification 5) In the above embodiment, when the inverted pendulum type moving body A outputs a failure when the voltage of the main power source drops below a predetermined value, the power switch 3 is operated to be turned off and the main power source is operated. If is blocked, the above failure is ignored or not output. As a result, it is not necessary to store a fail each time the main power is turned off, and a memory for storing the failure can be avoided.

  As described above, the inverted pendulum type moving body A controls the driving of the motor 7 according to the combination of the operation state of the power switch 3 and the determination result of the state determination unit 111. Specifically, whether or not the inverted pendulum type moving body A may stop the driving of the motor 7 without stopping the driving of the motor 7 immediately even if the power switch 3 is operated in the OFF state. Determine. Then, the inverted pendulum type moving body A stops the driving of the motor 7 only when it is determined that the driving of the motor 7 may be stopped. As a result, the inverted pendulum type moving body A stops driving the motor 7 even when the passenger of the traveling inverted pendulum type moving body A accidentally operates the power switch 3 in the OFF state. There is nothing to do. Therefore, it is possible to prevent the passenger from falling. Further, when an object is placed on the riding section, the inverted pendulum type moving body A can prevent the object from falling.

  By the way, in the case of the conventional system in which the main power source of the inverted pendulum type moving body A is shut off when the power switch is turned off, the main power source is shut off during regenerative braking. As a result, there is no place for regenerative power to return. For this reason, the internal voltage of the inverted pendulum type moving body A increases, which may cause a failure of the electronic component. On the other hand, in the present embodiment, even when the power switch is operated to be turned off during regenerative braking, the main power is not shut off. Therefore, failure of electronic parts can be prevented.

In addition, you may comprise each part with which the inverted pendulum type mobile body A which concerns on this embodiment is installed by installing the program which performs the various processes regarding the drive control of the motor 7, and making this computer run this program. That is, the inverted pendulum type moving body A is configured by causing the computer to function as each unit included in the inverted pendulum type moving body A by causing the computer to execute programs for performing various processes for controlling the drive of the motor 7. May be.
The computer has various memories such as a CPU, ROM, RAM, and EEPROM (registered trademark), a communication bus, and an interface. The CPU reads and sequentially executes a processing program stored in the ROM as firmware in advance, so that the inverted pendulum type It functions as the moving body A.

A Inverted pendulum type mobile 1 Storage battery 2 BMU
3 Power switch 4 Tilt sensor 5 Boarding sensor 6 Stand state detection sensor 7 Motor 8 Rotation detection sensor 9 Control device 10 Control unit 11 Drive unit 111 State determination unit 112 Drive control unit

Claims (6)

An inverted pendulum type moving body that travels by driving a motor with electric power from a storage battery,
A drive control unit for controlling the drive of the motor;
A state determination unit that determines whether or not the inverted pendulum type moving body is in a state in which traveling can be stopped;
A power switch that can be operated from the outside,
With
The inverted pendulum type moving body, wherein the drive control unit controls driving of the motor according to a combination of an operation state of the power switch and a determination result of the state determination unit.   The drive control unit stops driving the motor when it is determined that the power switch is operated in an off state and the inverted pendulum type moving body is in a state in which traveling can be stopped. The inverted pendulum type moving body according to claim 1. A rotation detection sensor for detecting rotation of the motor;
The state determination unit determines that the inverted pendulum type moving body is in a state in which the traveling can be stopped when the rotation detection sensor does not detect the rotation of the motor. The inverted pendulum type moving body according to claim 2. The boarding section;
A boarding sensor for detecting boarding in the boarding section;
With
The state determination unit determines that the inverted pendulum type moving body is in a state in which the traveling can be stopped when the boarding sensor does not detect boarding of the boarding unit. The inverted pendulum type moving body according to claim 1 or 2. A stand that supports the inverted pendulum type moving body in an inverted state by being in an upright state;
A stand state detection sensor for detecting the standing state of the stand;
With
The said state determination part determines that the said inverted pendulum type mobile body is the state which can stop the said driving | running | working, when the said stand state detection sensor detects the standing state of the said stand. Or the inverted pendulum type moving body according to claim 2.   The said drive control part stops the drive of the said motor by stopping the output of the drive signal for driving the said motor at predetermined | prescribed rotational speed, It is any one of Claims 1-5 characterized by the above-mentioned. The inverted pendulum type moving body according to the item.

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