JP2019151300A - Method for estimating degree of handle operation of inverted coaxial two-wheel vehicle - Google Patents

Abstract

To estimate a degree of dependence on a handle operation in a back-and-forth movement of an inverted coaxial two-wheel vehicle without causing drastic cost increase.SOLUTION: A method for estimating a degree of a handle operation of an inverted coaxial two-wheel vehicle including a carrier part, a handle, a pair of right and left wheels, load sensors respectively mounted on a front side position and a rear side position at a riding part of the carrier part and respectively detecting loads applied on the front side position and the rear side position, and a pitch angle speed sensor detecting a pitch angle speed of the carrier part, comprises: calculating moment difference as a difference between the front side moment and a rear side moment at a reference position using the loads on the front side and the rear side detected by the load sensors respectively; and estimating to what degree an occupant depends on the handle operation, using the calculated moment difference and the pitch angle speed detected by the pitch angle speed sensor.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a method for estimating the degree of steering operation of an inverted coaxial two-wheel vehicle.

  There is known an inverted coaxial two-wheeled vehicle that controls rotation of a wheel so as to maintain its own posture by detecting its own posture information from detection signals from a gyro sensor, an acceleration sensor, etc., and performing an inversion control or the like. Yes. Patent Document 1 discloses an inverted coaxial two-wheel vehicle provided with a handle that can be gripped by a passenger via a bar.

Japanese Patent No. 5338726

  The inverted coaxial two-wheel vehicle is used as a training device for improving the physical function and balance function of a passenger. That is, in an inverted coaxial two-wheeled vehicle as a training device, a passenger performs a traveling operation by moving the center of gravity of the body or the like while intentionally reducing the stability of the inverted state. However, in the inverted coaxial two-wheeled vehicle disclosed in Patent Document 1, the passenger can operate the vehicle to move back and forth by operating the handle back and forth with arms and hands without moving the center of gravity of the body. it can. For this reason, the occupant tends to rely on the front and back operation of the handle by the arm and hand, which is easier than the movement of the center of gravity of the body. When the passenger operates the vehicle to move back and forth by operating the steering wheel, there is a problem that the expected balance training effect cannot be obtained.

  In order to avoid such problems, a sensor system that estimates the amount of operation of the handle is installed, and when the estimated amount of operation of the handle bears more than the specified value, an alarm etc. It is conceivable to notify the passenger by prompting an operation by moving the center of gravity. However, if a sensor system that estimates the amount of operation of the handle is installed, a load sensor, its control device, attachment parts, and the like are required, resulting in a significant cost increase.

  The present invention has been made in view of the above background, and it is possible to estimate the degree of dependence on the steering operation in the longitudinal movement of the inverted coaxial two-wheeled vehicle without incurring a significant cost increase. An object of the present invention is to provide a method for estimating the degree of steering operation.

  The present invention relates to a carriage unit provided with a riding part on which a rider's foot rides, a handle erected in front of the carriage part, and a pair of left and right wheels provided in the carriage part and driven by a drive unit A load sensor that is provided at each of the front side position and the rear side position in the riding section and detects a load applied to the front side position and the rear side position, respectively, and a pitch angular velocity of the carriage unit. A pitch angular velocity sensor for detecting, a method for estimating the degree of steering operation of an inverted coaxial two-wheeled vehicle that a passenger rides and travels while maintaining an inverted state, the front side and the rear detected by the load sensor, respectively A moment difference that is a difference between a front moment and a rear moment at a reference position is calculated using the load on the side, and the calculated moment difference and the pitch angular velocity sensor The pitch angular velocity out, using, what extent the passenger is to estimate whether relies on operation of the handle.

  It is known that there is a correlation between the moment difference and the pitch angular velocity of the inverted coaxial two-wheeled vehicle when the passenger operates the inverted coaxial two-wheeled vehicle only by moving the center of gravity. That is, when the occupant operates the inverted coaxial two-wheeled vehicle only by moving the center of gravity, it is known that the relationship between the moment difference and the pitch angular velocity of the carriage unit in the inverted coaxial two-wheeled vehicle is substantially proportional. Therefore, by comparing the theoretical pitch angular velocity of the trolley calculated from the moment difference with the pitch angular velocity of the trolley detected by the pitch angular velocity sensor, it is estimated how much the passenger depends on the steering operation. can do. Further, in an inverted coaxial two-wheel vehicle, a load sensor and a pitch angular velocity sensor are often provided for controlling the drive unit. By using these load sensors and pitch angular velocity sensors, it is estimated how much the occupant is dependent on the operation of the steering wheel, so there is no significant cost increase.

  According to the present invention, it is possible to estimate the degree of dependence on the steering wheel operation in the longitudinal movement of the inverted coaxial two-wheel vehicle without incurring a significant cost increase.

1 is a schematic diagram showing a schematic configuration of an inverted coaxial two-wheel vehicle according to an embodiment of the present invention. 1 is a block diagram showing a schematic system configuration of an inverted coaxial two-wheel vehicle according to an embodiment. It is a schematic diagram explaining the difference (moment difference) between the front side moment and the rear side moment at the reference position. It is a graph which shows an example of the relationship between the moment difference at the time of a passenger moving the inverted coaxial two-wheel vehicle back and forth by a gravity center movement, and the pitch angular velocity of an inverted coaxial two-wheel vehicle. It is a graph which shows an example of the relationship between the moment difference at the time of a passenger moving the inverted coaxial two-wheel vehicle 1 back and forth by both center-of-gravity movement and steering wheel operation, and the pitch angular velocity of an inverted coaxial two-wheel vehicle. It is a flowchart which shows an example of the flow of a process which estimates the grade of the steering wheel operation of an inverted coaxial two-wheel vehicle. It is a flowchart which shows another example of the flow of a process which estimates the grade of the steering wheel operation of an inverted coaxial two-wheel vehicle.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram showing a schematic configuration of an inverted coaxial two-wheel vehicle according to an embodiment of the present invention. The inverted coaxial two-wheel vehicle 1 according to the present embodiment travels while the passenger is on board and maintains an inverted state, and is used as a training device for improving the physical function and balance function of the passenger. That is, when the inverted coaxial two-wheel vehicle 1 is used as a training device, for example, the passenger performs a traveling operation by moving the center of gravity of the body or the like in a state where the stability of the inverted state is intentionally reduced.

  The inverted coaxial two-wheel vehicle 1 includes, for example, a carriage unit 2 on which a rider rides, a handle 3 standing in front of the carriage unit 2 and operated by the rider, and a pair of wheels provided on the carriage unit 2 so as to be rotatable. 4 is provided.

  A pair of left and right step portions 21 on which the rider's left and right feet ride respectively are provided on the upper surface of the carriage unit 2. Step unit 21 is a specific example of the boarding unit. A pair of left and right wheels 4 are rotatably provided on the left and right side surfaces of the carriage unit 2. The handle 3 is provided so as to be able to incline in the front-rear direction, for example, on the front side and near the center of the carriage unit 2.

  Various sensors are attached to the inverted coaxial two-wheel vehicle 1 according to the present embodiment. That is, the inverted coaxial two-wheel vehicle 1 according to the present embodiment includes an attitude sensor 5 as a pitch angular velocity sensor, a pair of left and right rotation sensors 6, a first load sensor 11 that detects a load applied to the step unit 21, and a second load. A sensor 12, a third load sensor 13, and a fourth load sensor 14.

  The first load sensor 11 is provided on the front side of the step portion 21 on the right side. The 1st load sensor 11 detects the load by a toe of a passenger's right foot. The second load sensor 12 is provided on the rear side of the right step portion 21. The second load sensor 12 detects the load caused by the heel of the passenger's right foot.

  The third load sensor 13 is provided on the front side of the left step portion 21. The third load sensor 13 detects a load caused by the toe of the left foot of the passenger. The fourth load sensor 14 is provided on the rear side of the left step portion 21. The fourth load sensor 14 detects the load caused by the heel of the passenger's left foot.

  The posture sensor 5 serving as a pitch angular velocity sensor includes, for example, a gyro sensor, and detects the velocity (pitch angular velocity) of the pitch angle (inclination angle) of the carriage unit 2 that is generated when the passenger moves the center of gravity back and forth. In addition to the gyro sensor, the attitude sensor 5 may include an acceleration sensor, an angle sensor, and the like. By these, the pitch angle, the pitch angle acceleration, the roll angle, the roll angular velocity, the roll angular acceleration, the yaw angle, the yaw angular velocity, Attitude information such as yaw angular acceleration may be detected.

  The rotation sensor 6 is provided in each of the left and right wheels 4 provided in the carriage unit 2 and detects rotation information such as the rotation speed, rotation angle, rotation speed, and rotation acceleration of each of the left and right wheels 4. The rotation sensor 6 is, for example, an encoder.

FIG. 2 is a block diagram showing a schematic system configuration of the inverted coaxial two-wheel vehicle according to the present embodiment.
Each wheel drive unit 7 is a specific example of a drive unit. Each wheel drive unit 7 drives the carriage unit 2 by driving each wheel 4 rotatably provided on the carriage unit 2. Each wheel drive unit 7 can be constituted by, for example, a motor and a reduction gear connected to a rotating shaft of the motor so as to be able to transmit power. The drive circuit 10 that drives the motor is, for example, a motor driver IC (Integrated Circuit) or a MOSFET (metal-oxide-semiconductor field-effect transistor). Each wheel drive unit 7 is connected to the control device 8 and drives each wheel 4 in accordance with a control signal (rotation command value) from the control device 8.

  The first load sensor 11, the second load sensor 12, the third load sensor 13, and the fourth load sensor 14 each output a detected value of a load applied to the step unit 21 to the control device 8. The posture sensor 5 is connected to the control device 8 and outputs the detected posture information to the control device 8. The rotation sensor 6 is connected to the control device 8 and outputs the detected rotation information to the control device 8.

  For example, the control unit 8 performs desired traveling (forward, reverse, acceleration, deceleration, stop, left turn, right turn, etc.) while performing the inverted control to maintain the inverted state, for example, Each wheel drive unit 7 is controlled to control the rotation of each wheel 4. The control device 8 performs known control such as feedback control and robust control based on the posture information of the carriage unit 2 detected by the posture sensor 5 and the rotation information of each wheel 4 detected by the rotation sensor 6. Do. In addition, the control device 8 estimates the degree of handle operation of the inverted coaxial two-wheel vehicle 1. Details of the method of estimating the degree of steering operation of the inverted coaxial two-wheel vehicle 1 will be described later.

  The control device 8 includes, for example, a CPU (Central Processing Unit) 8a that performs control processing, arithmetic processing, and the like, a ROM (Read Only Memory) or a RAM (Random) that stores a control program executed by the CPU 8a, an arithmetic program, and the like. A hardware configuration is mainly made up of a microcomputer including a memory 8b including an access memory and an interface unit (I / F) 8c for inputting / outputting signals to / from the outside. The CPU 8a, the memory 8b, and the interface unit 8c are connected to each other via a data bus or the like.

  Next, a method for estimating the degree of steering operation of the inverted coaxial two-wheel vehicle 1 will be described. In the following description, FIG. 1 is also referred to as appropriate.

  FIG. 3 is a schematic diagram illustrating the difference (moment difference) between the front side moment and the rear side moment at the reference position. Here, the front load F1 is a load applied to the front side of the step portion 21 in the inverted coaxial two-wheel vehicle 1 calculated based on the loads detected by the first load sensor 11 and the third load sensor 13, respectively. . For example, the front side load F1 is obtained by the sum of the loads detected by the first load sensor 11 and the third load sensor 13, respectively. Further, the rear load F2 is a load applied to the rear side of the step portion 21 in the inverted coaxial two-wheel vehicle 1 calculated based on the loads detected by the second load sensor 12 and the fourth load sensor 14, respectively. For example, the front side load F2 is obtained from the sum of the loads detected by the second load sensor 12 and the fourth load sensor 14, respectively. In the present embodiment, as shown in FIG. 3, the center of the wheel 4 is set as the reference position P1.

When the distance from the reference position P1 of the position where the forward load F1 acts is L1, the forward moment M1 is expressed by the equation (1).
M1 = F1 · L1 (1)
When the distance from the reference position P1 of the position on which the rear load F2 acts is L2, the rear moment M2 is expressed by Expression (2).
M2 = F2 · L2 (2)

Therefore, the moment difference ΔM, which is the difference between the front moment M1 and the rear moment M2 with respect to the reference position, is expressed by Expression (3).
ΔM = M1-M2 = F1, L1-F2, L2 (3)

  It can be determined whether the inverted coaxial two-wheel vehicle 1 is inclined forward or backward depending on whether the moment difference ΔM is positive or negative. That is, when the moment difference ΔM is positive, it can be determined that it is inclined forward, and when it is negative, it is determined that the moment difference ΔM is inclined backward. Thus, the moment difference ΔM can be calculated from the longitudinal loads detected by the load sensors (first to fourth load sensors 11, 12, 13, 14).

  It is known that there is a correlation between the moment difference ΔM and the pitch angular velocity of the carriage unit 2 in the inverted coaxial two-wheel vehicle 1 when the passenger operates the inverted coaxial two-wheel vehicle 1 only by moving the center of gravity. That is, it is known that when the passenger operates the inverted coaxial two-wheel vehicle 1 only by moving the center of gravity, the relationship between the moment difference ΔM and the pitch angular velocity of the inverted coaxial two-wheel vehicle 1 is substantially proportional. For this reason, by comparing the theoretical pitch angular velocity of the carriage unit 2 calculated from the moment difference with the pitch angular velocity of the carriage unit 2 detected by the gyro sensor included in the attitude sensor 5, how much the passenger handles It can be estimated whether it depends on the operation.

  In an inverted coaxial two-wheel vehicle, a load sensor and a pitch angular velocity sensor are often provided for controlling a drive unit that drives a wheel. In the inverted coaxial two-wheel vehicle 1 according to the present embodiment, the degree to which the occupant operates the handle 3 using the first to fourth load sensors 11 to 14 as load sensors and the attitude sensor 5 as a pitch angular velocity sensor. Since it is estimated whether it depends, there is no significant cost increase due to the addition of parts.

  FIG. 4 is a graph showing an example of the relationship between the moment difference and the pitch angular velocity of the carriage unit 2 (see FIG. 1) when the passenger moves the inverted coaxial two-wheel vehicle 1 back and forth by moving the center of gravity. FIG. 5 is a graph showing an example of the relationship between the moment difference and the pitch angular velocity of the carriage unit 2 when the passenger moves the inverted coaxial two-wheel vehicle 1 back and forth by both the movement of the center of gravity and the steering wheel operation. 4 and 5, the solid line represents the theoretical line of the relationship between the moment difference and the pitch angular velocity of the carriage unit 2, the broken line represents the upper limit line, and the alternate long and short dash line represents the lower limit line. Note that the upper limit line is obtained by adding a pitch angular velocity measurement error (for example, 0.05 [rad / s]) to the theoretical line, and the lower limit line is obtained by subtracting the pitch angular velocity measurement error from the theoretical line. is there.

  As shown in FIG. 4, when the occupant moves the inverted coaxial two-wheel vehicle 1 back and forth by moving the center of gravity, the plot point group of the measurement result of the pitch angular velocity is within the upper limit line and the lower limit line. On the other hand, as shown in FIG. 5, when the occupant moves the inverted coaxial two-wheel vehicle 1 back and forth by both the movement of the center of gravity and the steering wheel operation, the plot point group of the measurement result of the pitch angular velocity is the upper limit line and the lower limit line. Deviate between. It can be estimated that the greater the degree of deviation, the greater the degree that the occupant is dependent on the steering wheel operation. In this way, the degree of steering operation of the inverted coaxial two-wheel vehicle is estimated by plotting the pitch angular velocity of the carriage unit 2 detected by the attitude sensor 5 against the moment difference calculated from the longitudinal load detected by each load sensor. be able to.

  Next, a flow of processing for estimating the degree of steering operation of the inverted coaxial two-wheel vehicle 1 in training will be described. In the following description, FIG. 1 is also referred to as appropriate.

  FIG. 6 is a flowchart illustrating an example of a flow of processing for estimating the degree of steering operation of the inverted coaxial two-wheel vehicle 1. As shown in FIG. 6, first, each load sensor detects the load applied to the front side position and the rear side position of the carriage unit 2, and the gyro sensor included in the attitude sensor 5 detects the pitch angular velocity. (Step S101).

  Subsequent to step S101, a moment difference, which is a difference between the front moment and the rear moment at the reference position, is calculated using the front and rear loads detected by the load sensors, respectively ( Step S102). Next, a theoretical pitch angular velocity is calculated using the calculated moment difference (step S103).

  Following step S103, the absolute value of the difference between the pitch angular velocity detected by the gyro sensor included in the attitude sensor 5 and the theoretical pitch angular velocity (difference between the detected value of the pitch angular velocity and the theoretical value) is a predetermined value. It is determined whether or not it is equal to or less than the threshold (step S104). The determination as to whether or not the absolute value of the difference between the detected value of the pitch angular velocity and the theoretical value is equal to or smaller than a predetermined threshold value, that is, as described with reference to FIGS. The determination is made based on whether or not it is within the range between the upper limit line and the lower limit line set with reference to the theoretical line.

  In step S104, when the absolute value of the difference between the detected value of the pitch angular velocity and the theoretical value is equal to or smaller than a predetermined threshold (in the case of YES), the process returns to step S101. In step S104, when the absolute value of the difference between the detected value of the pitch angular velocity and the theoretical value exceeds a predetermined threshold (in the case of NO), a warning is given to the passenger (step S105). The warning is performed, for example, by sounding an alarm or displaying a warning message on the operation screen.

  It is determined whether or not to end the training (step S106). In step S106, when training is finished (in the case of YES), the process is finished. In step S106, when the training is not finished (in the case of NO), the process returns to step S101.

  In the training using the inverted coaxial two-wheel vehicle 1, the occupant moves, for example, back and forth or at the center of gravity so that the inverted coaxial two-wheel vehicle 1 is stationary or within a certain range according to a predetermined operation of the inverted coaxial two-wheel vehicle 1. Perform the driving operation to move left and right. Thereby, the passenger can improve the balance function. However, if the passenger moves the inverted coaxial two-wheel vehicle 1 back and forth depending on the steering operation, the intended training effect cannot be obtained. As described above, in the inverted coaxial two-wheel vehicle 1 according to the present embodiment, how much the passenger depends on the operation of the steering wheel using the calculated moment difference and the pitch angular velocity detected by the pitch angular velocity sensor. I guess. If it is found from this estimation that the occupant is highly dependent on the steering wheel operation, a warning is given to the occupant. Thereby, during training, a passenger's attention can be drawn so that it may not move back and forth by steering operation as much as possible, and it becomes possible to perform efficient training.

[Modification 1]
When training is performed in a game format, a penalty may be added according to the degree of dependence on the handle operation. FIG. 7 is a flowchart showing another example of the process flow for estimating the degree of steering operation of the inverted coaxial two-wheel vehicle, different from FIG. Note that the processing flow shown in FIG. 7 differs from the processing flow shown in FIG. 6 only in the processing in step S205. That is, the processes in steps S201 to S204 and step S206 in FIG. 7 are the same as the processes in steps S101 to S104 and step S106 in FIG. 6, respectively. Therefore, only the process of step S205 will be described.

  In step S204, if the difference between the detected value of the pitch angular velocity and the theoretical value exceeds a predetermined threshold (in the case of NO), a penalty is added (step S205). The level determination at the end of training takes into account the penalty value as well as the operation speed and operation accuracy of the inverted coaxial two-wheel vehicle 1. For example, the level is increased when the operation speed and the operation accuracy satisfy predetermined requirements and the penalty value is below a certain value. Thereby, the passenger can efficiently improve the balance function while enjoying the game feeling.

  Note that 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-described embodiment, the present invention has been described as a hardware configuration, but the present invention is not limited to this. The present invention can also realize arbitrary processing by causing the CPU 8a (see FIG. 2) of the control device 8 to execute a computer program.

  In the above example, the computer program can be stored and provided to a computer using various types of non-transitory computer readable media. Non-transitory computer readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (for example, flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (for example, magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / W, semiconductor memory (for example, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (Random Access Memory)) are included. The program may also be supplied to the computer by various types of transitory computer readable media. Examples of transitory computer readable media include electrical signals, optical signals, and electromagnetic waves. The temporary computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire and an optical fiber, or a wireless communication path.

DESCRIPTION OF SYMBOLS 1 Inverted coaxial two-wheel vehicle 2 Carriage part 3 Handle 4 Wheel 5 Attitude sensor 6 Rotation sensor 7 Wheel drive unit 8 Control apparatus 11 1st load sensor 12 2nd load sensor 13 3rd load sensor 14 4th load sensor

Claims (1)

A carriage section provided with a boarding section on which a passenger's foot rides;
A handle erected in front of the cart,
A pair of left and right wheels provided in the carriage unit and driven by a drive unit;
A load sensor for detecting a load applied to the front side position and the rear side position, respectively, provided at a front side position and a rear side position in the riding section;
A pitch angular velocity sensor for detecting a pitch angular velocity of the carriage unit;
A method for estimating the degree of steering operation of an inverted coaxial two-wheeled vehicle that the passenger rides and travels while maintaining an inverted state,
Using the load on the front side and the rear side detected respectively by the load sensor, the moment difference that is the difference between the front side moment and the rear side moment at the reference position is calculated,
Using the calculated moment difference and the pitch angular velocity detected by the pitch angular velocity sensor, it is estimated how much the occupant is dependent on the operation of the steering wheel. Method.