JP5123123B2 - Mobile body and control method thereof - Google Patents

Description

  The present invention relates to a moving body and a control method thereof.

  In recent years, a moving body that moves in a state where a passenger is on board has been developed (Patent Documents 1 and 2). For example, in Patent Documents 1 to 3, a force sensor (pressure sensor) is provided on a boarding surface (seat surface) on which a passenger rides. The wheels are driven by the output from the force sensor. That is, input is performed by using the force sensor as an operation means.

  The moving body of Patent Document 1 moves by applying weight in the direction in which it wants to proceed. For example, when going forward, the passenger tilts his upper body forward. That is, the passenger is in a forward leaning posture. And if it becomes a leaning posture, the force added to a boarding seat will change. Then, this force is detected by a force sensor. The spherical tire is driven by the detection result of the force sensor. In FIG. 14 of Patent Document 1, the inverted pendulum control is performed in a state where the passenger sits on the boarding seat. Patent Document 2 discloses a wheelchair-type moving body. This moving body is provided with a chair and a footrest.

  Further, Patent Document 3 discloses a moving body that actively detects a user's operation and operates autonomously in response thereto. For example, the center of gravity of the user is calculated by a plurality of pressure sensors. A wheelchair-shaped moving body operates according to the position of the center of gravity (FIG. 2).

  Further, Patent Document 4 discloses an interface device for operating a biped walking type moving body. This interface device has a chair shape. A plurality of force sensors are provided on the back surface and the seat surface of the chair. Four force sensors detect the pelvic turning of the passenger and estimate the intention to walk. And both legs are driven according to the will to walk estimated by the force sensor. The interface device is provided with a footrest.

JP 2006-282160 A Japanese Patent Laid-Open No. 10-23613 JP-A-11-198075 JP-A-7-136957

  In patent documents 1-3, it is moving according to the posture of the passenger actually boarding the moving body. Thereby, operation according to the environment which is actually moving is attained. For example, the passenger can perform an operation as follows. When he wants to move forward, the passenger moves his upper body forward. That is, the passenger is in a forward leaning posture. Then, the position of the center of gravity becomes forward, and the force applied to the force sensor changes. Thereby, the sensor detects the forward input. On the other hand, when the user wants to move backward, the occupant is tilted backward. Then, the position of the center of gravity becomes backward, and a backward tilt input is detected. When moving left and right, the passenger moves the center of gravity in the left-right direction. Thereby, the turning input is detected. Thus, it can move according to the turning input, the forward input, and the backward input.

  By the way, in the moving body in which the force sensor is provided on the boarding surface on which the passenger is boarded, there are the following problems. For example, the passenger may want to use the moving body as a chair. That is, in addition to being able to be used as a moving body that moves according to the weight shift of the passenger, such a moving body on which such a passenger is boarded can be used as a chair used in an office or the like. It has been demanded. Therefore, a technique for switching between a control mode as a moving body and a control mode as a chair is required according to the use situation of the passenger.

  However, in the conventional mobile body, there is no mention of a method of changing the command value to the motor that drives the mobile body according to the use situation of the passenger. Also, there is no mention of a mechanism and a control method that can actively control the roll, pitch, and yaw axis of a moving body as if it were a chair when the moving body is desired to be used as a chair. For example, when the moving body is used as a chair, if all the controls of the moving body are dropped, a problem arises that the sitting position cannot be corrected, and the chair becomes uncomfortable.

  As described above, in the conventional mobile body, since the technology for switching the control mode of the mobile body is not considered in accordance with the use situation of the passenger, there is a problem in that the mobile body cannot be operated as intended by the passenger. There is.

  An object of the present invention is to provide a moving body having high operability and a control method therefor by switching the control mode of the moving body according to the use situation of a passenger.

  A moving body according to a first aspect of the present invention is added to a boarding seat on which a passenger gets on, a main body that supports the boarding seat, a moving mechanism that moves the main body, and a seating surface of the boarding seat. In the case of a sensor that outputs a measurement signal corresponding to a force, a control calculation unit that calculates a command value for driving the moving mechanism according to an output from the sensor, a moving body mode, and the moving body mode Moreover, mode switching means for switching the operation mode between the chair mode that enables the use of the moving mechanism as a chair by restricting the driving of the moving mechanism. Thereby, since the control mode of a mobile body can be switched according to a passenger's utilization condition, operativity can be improved.

  A mobile body according to a second aspect of the present invention is the mobile body described above, wherein the mode switching means includes a contact sensor that determines whether or not a passenger is in contact with an output from the sensor. The operation mode is switched between the moving body mode and the chair mode based on the determination result from the contact sensor.

  The mobile body according to a third aspect of the present invention is the mobile body described above, wherein the mode switching means includes a switch for inputting switching of an operation mode between the mobile body mode and the chair mode. It is characterized by.

  A mobile body according to a fourth aspect of the present invention is the mobile body described above, wherein the mode switching means outputs a command value for the control calculation unit to drive the mobile mechanism in the chair mode. The gain at the time of calculation is smaller than that in the moving body mode.

  A moving body according to a fifth aspect of the present invention is the above-described moving body, wherein the mode switching means includes an adjuster that adjusts the magnitude of the gain.

  A mobile body according to a sixth aspect of the present invention is the mobile body described above, further comprising a boarding seat drive mechanism that drives the boarding seat so as to change an angle of a seating surface of the boarding seat, and the control The calculation unit calculates command values for driving the moving mechanism and the passenger seat drive mechanism based on the driving amount of the passenger seat drive mechanism, the equilibrium position and posture of the passenger seat, and the measurement signal from the sensor. It is characterized by calculating.

  A mobile body according to a seventh aspect of the present invention is the mobile body described above, wherein the boarding seat is based on a driving amount of the boarding seat drive mechanism, an equilibrium position and orientation of the boarding seat, and a measurement signal from the sensor. A target drive amount of the seat drive mechanism is calculated, and a forward / reverse movement speed of the moving body is calculated based on the target drive amount of the passenger seat drive mechanism.

  A method for controlling a moving body according to an eighth aspect of the present invention includes a boarding seat on which a passenger gets on, a main body that supports the boarding seat, a moving mechanism that moves the main body, and a seat on the boarding seat. A sensor that outputs a measurement signal corresponding to a force applied to the surface, and a step of calculating a command value for driving the moving mechanism according to an output from the sensor And a step of switching the operation mode between the moving body mode and a chair mode that enables the use of the moving mechanism as a chair by restricting the driving of the moving mechanism as compared with the case of the moving body mode. . Thereby, since the control mode of a mobile body can be switched according to a passenger's utilization condition, operativity can be improved.

  A control method for a moving body according to a ninth aspect of the present invention is the above-described control method for a mobile body, wherein a contact sensor that determines whether or not a passenger is in contact with the output from the sensor and the The operation mode is switched between the moving body mode and the chair mode based on the determination result from the contact sensor.

  A mobile body control method according to a tenth aspect of the present invention is the mobile body control method described above, wherein the operation mode is switched between the mobile body mode and the chair mode by a switch. It is what.

  A mobile body control method according to an eleventh aspect of the present invention is the mobile body control method described above, wherein in the chair mode, a command value for the control calculation unit to drive the mobile mechanism is obtained. The gain at the time of calculation is smaller than that in the moving body mode.

  A mobile body control method according to a twelfth aspect of the present invention is the mobile body control method described above, wherein the magnitude of the gain is adjusted by an adjuster.

  A mobile body control method according to a thirteenth aspect of the present invention is the mobile body control method described above, wherein the mobile body drives the passenger seat so as to change an angle of a seating surface of the passenger seat. A boarding seat drive mechanism that drives the movement mechanism and the boarding seat drive mechanism based on a driving amount of the boarding seat drive mechanism, an equilibrium position and posture of the boarding seat, and a measurement signal from the sensor. The command value for calculating is calculated.

  A mobile body control method according to a fourteenth aspect of the present invention is the mobile body control method described above, wherein the drive amount of the passenger seat drive mechanism, the equilibrium position and orientation of the passenger seat, and the measurement signal from the sensor Based on the above, a target drive amount of the passenger seat drive mechanism is calculated, and a forward / rearward movement speed of the moving body is calculated based on the target drive amount of the passenger seat drive mechanism. .

  ADVANTAGE OF THE INVENTION According to this invention, the moving body which has high operativity, and its control method can be provided.

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

Embodiment 1 of the Invention
A moving body 1 according to Embodiment 1 will be described with reference to FIGS. 1 and 2. FIG. 1 is a front view schematically showing the configuration of the moving body 1, and FIG. 2 is a side view schematically showing the configuration of the moving body 1. 1 and 2 show an XYZ orthogonal coordinate system. The Y axis indicates the left-right direction of the moving body 1, the X axis indicates the front-rear direction of the moving body 1, and the Z axis indicates the vertical direction. Therefore, the X axis corresponds to the roll axis, the Y axis becomes the pitch axis, and the Z axis becomes the yaw axis. In FIG. 1 and FIG.

  As shown in FIG. 1, the moving body 1 has a riding section 3 and a chassis 13. The chassis 13 is a main body of the moving body 1 and supports the riding section 3. The chassis 13 includes an attitude detection unit 4, wheels 6, a footrest 10, a housing 11, a control calculation unit 51, a battery 52, and the like. The wheel 6 includes a front wheel 601 and a rear wheel 602. Here, a three-wheeled moving body 1 composed of one front wheel 601 and two rear wheels 602 will be described.

  The boarding unit 3 includes a boarding seat 8 and a force sensor 9. And the upper surface of the boarding seat 8 becomes the seat surface 8a. That is, the moving body 1 moves on the seat surface 8a in a state where the passenger is on the seat surface 8a. The seating surface 8a may be a flat surface or may have a shape that matches the shape of the collar. Further, a backrest may be provided on the boarding seat 8. That is, the boarding seat 8 may have a wheelchair shape. In order to improve riding comfort, the passenger seat 8 may be cushioned. When the moving body 1 is on a horizontal plane, the seating surface 8a is horizontal. The force sensor 9 detects the weight shift of the passenger. That is, the force sensor 9 detects the force applied to the seat surface 8 a of the passenger seat 8. The force sensor 9 outputs a measurement signal corresponding to the force applied to the seating surface 8a. The force sensor 9 is disposed below the passenger seat 8. That is, the force sensor 9 is disposed between the chassis 13 and the passenger seat 8.

As the force sensor 9, for example, a 6-axis force sensor can be used. In this case, as shown in FIG. 3, the translational forces (SFx, SFy, SFz) in the three-axis directions and the moments (SMx, SMy, SMz) around each axis are measured. These translational forces and moments are values with the center of the force sensor 9 as the origin. If the measurement signals output to the sensor processing unit of the moving body 1 are moments (Mx, My, Mz) and the control coordinate origins of those moments are (a, b, c) shown in FIG. 2, Mx, My, Mz Can be expressed as follows.
Mx = SMx + c · SFy−b · SFz
My = SMy + a · SFz−c · SFx
Mz = SMz + b.SFx-a.SFy
FIG. 3 is a diagram for explaining each axis. Any force sensor 9 that can measure moments (Mx, My, Mz) may be used. A triaxial force sensor capable of measuring moments (SMx, SMy, SMz) around each axis may be arranged at the control coordinate origin to directly measure Mx, My, Mz. Three uniaxial force sensors may be provided. Furthermore, an analog joystick using a strain gauge or a potentiometer may be used. That is, it is only necessary to be able to measure moments around three axes directly or indirectly. The force sensor 9 outputs three moments (Mx, My, Mz) as measurement signals.

  A chassis 13 that is a main body portion of the moving body 1 is provided with an attitude detection unit 4, wheels 6, a footrest 10, a housing 11, a control calculation unit 51, a battery 52, and the like. The housing 11 has a box shape, and the front lower side protrudes. And the footrest 10 is arrange | positioned on this protruding part. The footrest 10 is provided on the front side of the passenger seat 8. Therefore, in the state where the passenger has boarded the boarding seat 8, both feet of the passenger are placed on the footrest 10.

  The footrest 10 includes a determination unit 12 for determining whether or not the foot of the passenger is in contact. The determination unit 12 includes, for example, a plurality of contact sensors. The plurality of contact sensors are arranged in an array on the upper surface of the footrest 10, for example. Each contact sensor outputs a contact signal in a state where its upper surface is in contact with something. Based on this contact signal, it is determined whether or not the foot of the passenger is in contact. If the set of contact sensors in contact resembles the shape of the sole, it is determined that the sole of the passenger is in contact. That is, it is determined whether or not the occupant's sole is in contact based on whether or not the area in contact resembles the shape of the sole. Furthermore, it is possible to determine whether a passenger is on board or an object other than the passenger is on board. By determining the presence or absence of the passenger with the determination unit 12 provided in the footrest 10 instead of the force sensor 9, it is possible to determine with certainty. That is, even when an object is placed on the passenger seat 8, it can be prevented that the passenger's soles are in contact with each other by mistake.

  The housing 11 includes a drive motor 603, an attitude detection unit 4, a control calculation unit 51, and a battery 52. The battery 52 supplies power to each electric device such as the drive motor 603, the attitude detection unit 4, the control calculation unit 51, and the force sensor 9. The posture detection unit 4 includes, for example, a gyro sensor or an acceleration sensor, and detects the posture of the moving body 1. That is, when the chassis 13 is tilted, the posture detection unit 4 detects the tilt angle and the tilt angular velocity. The posture detection unit 4 detects the inclination angle of the posture around the roll axis and the inclination angle of the posture around the pitch axis. Then, the posture detection unit 4 outputs a posture detection signal to the control calculation unit 51.

  Wheels 6 are rotatably attached to the housing 11. Here, three wheels 6 on the disk are provided. A part of the wheel 6 protrudes below the lower surface of the housing 11. Therefore, the wheel 6 is in contact with the floor surface. The two rear wheels 602 are provided at the rear part of the housing 11. The rear wheel 602 is a drive wheel and is rotated by a drive motor 603. That is, when the drive motor 603 is driven, the rear wheel 602 rotates around the axle. The rear wheels 602 are provided on both the left and right sides. The rear wheel 602 has a built-in encoder for reading its rotational speed. The two rear wheels 602 are arranged on the same axis. The axle of the left rear wheel 602 and the axle of the right rear wheel 602 are arranged on the same straight line.

  Further, the wheel 6 includes a front wheel 601. One front wheel 601 is provided at the center of the front portion of the housing 11. Accordingly, the front wheel 601 is disposed between the two rear wheels 602 in the Y direction. A passenger seat 8 is provided between the axle of the front wheel 601 and the axle of the rear wheel 602 in the X direction. The front wheel 601 is a driven wheel (auxiliary wheel), and rotates according to the movement of the moving body 1. That is, the front wheel 601 rotates according to the moving direction and speed by the rotation of the rear wheel 602. Thus, by providing the front wheel 601 that is an auxiliary wheel in front of the rear wheel 602, it is possible to prevent the vehicle from falling. The front wheel 601 is provided below the footrest 10.

  The control calculation unit 51 is an arithmetic processing unit having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a communication interface, and the like. The control calculation unit 51 includes a removable HDD, an optical disk, a magneto-optical disk, etc., stores various programs and control parameters, and supplies the programs and data to a memory (not shown) or the like as necessary. To do. Of course, the control calculation unit 51 is not physically limited to one configuration. The control calculation unit 51 performs processing for controlling the operation of the drive motor 603 in accordance with the output from the force sensor 9. Further, processing for controlling the tilt of the chassis 13 is performed in accordance with the output from the posture detection unit 4. That is, the posture of the moving body 1 changes according to the inclination of the chassis 13. A mechanism for changing the posture is built in the housing 11. The boarding seat 8 is displaced by the operation of this mechanism. This configuration will be described later.

  Next, a control system for moving the moving body 1 will be described with reference to FIG. FIG. 4 is a block diagram illustrating a configuration of a control system for moving the moving body 1. First, the force applied to the seating surface 8a is detected by the force sensor 9. The sensor processing unit 53 processes the measurement signal from the force sensor 9. That is, arithmetic processing is performed on measurement data corresponding to the measurement signal output from the force sensor 9. Thereby, the input moment value input to the control calculation unit 51 is calculated. The sensor processing unit 53 may be built in the force sensor 9 or may be built in the control calculation unit 51.

  In this manner, the moments (Mx, My, Mz) measured by the force sensor 9 are converted into input moment values (Mx ′, My ′, Mz ′) around each axis. The input moment value becomes an input value that is input to operate each rear wheel 602. Thus, the sensor processing unit 53 calculates an input value for each axis. The magnitude of the input moment value is determined according to the magnitude of the moment. The sign of the input moment value is determined by the sign of the measured moment. That is, when the moment is positive, the input moment value is also positive, and when the moment is negative, the input moment value is also negative. For example, when the moment Mx is positive, the input moment value Mx ′ is also positive. Therefore, this input moment value becomes an input value corresponding to the operation intended by the passenger.

  The control calculation unit 51 obtains the input torque τi based on the input moment values (Mx ′, My ′, Mz ′). For example, the input torque τi = (Mx ′, My ′, Mz ′). And control calculation is performed based on this torque (tau) i. Thereby, a command value for driving the drive motor 603 is calculated. Normally, the command value increases as the torque τi increases. This command value is output to the drive motor 603. In the present embodiment, since the left and right rear wheels 602 are drive wheels, two drive motors 603 are illustrated. Then, one drive motor 603 rotates the right rear wheel 602, and the other drive motor 603 rotates the left rear wheel 602. The drive motor 603 rotates the rear wheel 602 based on the command value. That is, the drive motor 603 gives a command torque for rotating the rear wheel 602 that is a drive wheel. Of course, the drive motor 603 may give a rotational torque to the rear wheel 602 via a reduction gear or the like. For example, when a command torque is input as a command value from the control calculation unit 51, the drive motor 603 rotates with the command torque. Thereby, the rear wheel 602 rotates and the moving body 1 moves in a desired direction at a desired speed. Of course, the command value is not limited to the torque of the drive motor 603 but may be a rotation speed or a rotation speed.

  Furthermore, each of the drive motors 603 includes an encoder 603a. The encoder 603a detects the rotational speed of the drive motor 603 and the like. Then, the detected rotation speed is input to the control calculation unit 51. The control calculation unit 51 performs feedback control based on the current rotation speed and the target rotation speed. For example, the command value is calculated by multiplying the difference between the target rotation speed and the current rotation speed by an appropriate gain. Of course, the command values output to the left and right drive motors 603 may be different values. That is, when going straight forward or backward, the left and right rear wheels 602 are controlled to have the same rotational speed, and when turning left and right, the left and right rear wheels 602 have different rotational speeds in the same direction. Control to be. Further, when turning on the spot, the left and right rear wheels 602 are controlled to rotate in opposite directions.

  For example, when the occupant assumes a forward leaning posture, a force around the pitch axis is applied to the passenger seat 8. Then, the force sensor 9 detects a moment of + My (see FIG. 3). Based on this + My moment, the sensor processing unit 53 calculates an input moment value My ′ for translating the moving body 1. Similarly, the sensor processing unit 53 calculates an input moment value Mx ′ based on Mx, and calculates an input moment value Mz ′ based on Mz. Thereby, the torque τi is obtained.

  The control calculation unit 51 calculates a command value based on the input moment value and the encoder reading. As a result, the left and right rear wheels 602 rotate at a desired rotational speed. Similarly, when turning rightward, the passenger moves weight to the right. Thereby, a force around the roll axis is applied to the passenger seat, and the force sensor 9 detects a moment of + Mx. Based on this + Mx moment, the sensor processing unit 53 calculates an input moment value Mx ′ for turning the moving body 1 in the right direction. That is, the steering angle corresponding to the direction in which the moving body 1 moves is obtained. Then, the control calculation unit 51 calculates a command value according to the input moment value. Depending on this command value, the left and right rear wheels 602 rotate at different rotational speeds. That is, the left rear wheel 602 rotates at a higher rotational speed than the right rear wheel 602.

  Based on My ′, a component for translational movement in the front-rear direction is obtained. That is, the driving torque for driving the left and right rear wheels 602 in the same direction at the same rotational speed is determined. Therefore, the larger My ′, that is, My, the faster the moving speed of the moving body 1. Based on Mx ′, a component with respect to the moving direction, that is, the steering angle is obtained. That is, the rotational torque difference between the left and right rear wheels 602 is determined. Therefore, the difference in rotational speed between the left and right rear wheels 602 increases as Mx ′, that is, Mx increases.

  Based on Mz ′, a component for in-situ turning is determined. That is, a component for turning on the spot by rotating the left and right rear wheels 602 in the opposite direction is obtained. Accordingly, the larger Mz ′, that is, Mz, the greater the rotational speed in the opposite direction of the left and right rear wheels 602. For example, when Mz ′ is positive, a driving torque for turning in the counterclockwise direction as viewed from above is calculated. That is, the right rear wheel 602 rotates forward and the left rear wheel 602 rotates rearward at the same rotational speed.

  Then, the three components calculated based on the respective input moment values Mx ′, My ′, and Mz ′ are combined to calculate a command value for driving the two rear wheels 602. Thereby, the command values for the left and right rear wheels 602 are respectively calculated. Driving torque, rotation speed, etc. are calculated as command values. That is, the command value for the left and right rear wheels 602 is calculated by combining the values calculated for each component corresponding to the input moment values Mx ′, My ′, and Mz ′. Thus, the moving body 1 moves by the input moment values Mx ′, My ′, Mz ′ calculated based on the measured moments Mx, My, Mz. That is, the moving direction and moving speed of the moving body 1 are determined by the moments Mx, My, Mz due to the weight movement of the passenger.

  Thus, the input for moving the mobile body 1 is performed by the operation of the passenger. That is, a moment around each axis is detected by a change in the posture of the passenger. Based on the measured values of these moments, the moving body 1 moves. Thereby, the passenger can operate the moving body 1 simply. That is, operations such as a joystick and a handle are not necessary, and an operation can be performed only by weight shift. For example, if you want to move forward diagonally to the right, put your weight on the right front. Also, if you want to move diagonally to the left, put your weight on the left rear. As a result, the position of the center of gravity of the occupant changes, and input corresponding to the amount of change is performed. That is, an intuitive operation can be performed by detecting a moment corresponding to the movement of the center of gravity of the passenger.

  A determination signal from the determination unit 12 is input to the control calculation unit 51. The determination unit 12 is provided with a contact sensor 58 and a determination information processing unit 59. As described above, the contact sensors 58 are arranged in an array on the upper surface of the footrest 10. Each contact sensor 58 outputs a contact signal when something is in contact therewith. The discrimination information processing unit 59 performs processing based on this contact signal, and discriminates whether the feet of the passenger are in contact. That is, it is determined whether or not the sole is in contact with the footrest 10 according to the distribution of the contact sensor that outputs the contact signal. If the distribution of the contact sensor that outputs the contact signal is close to the sole shape, it is determined that the passenger's sole is in contact, otherwise it is determined that something other than a person is in contact To do.

  Each processing unit such as the sensor processing unit 53 and the discrimination information processing unit 59 is configured by a CPU, a RAM, and the like, like the control calculation unit 51. Then, arithmetic processing is performed according to a predetermined program. Of course, each processing unit and the control calculation unit 51 may have the physically same configuration. In other words, processing and calculation may be performed in one arithmetic processing circuit.

  In the present embodiment, the determination unit 12 determines whether or not the foot of the passenger is in contact. For example, as shown in FIG. 5, a contact sensor 58 is provided on the footrest 10. The contact sensors 58 are arranged in an array on the surface of the footrest 10. Therefore, the shape of the object in contact is recognized by the distribution of the contact sensor 58 that outputs a contact signal. When the shape of the object in contact is close to a general sole shape and there are two soles, it is determined that the sole of the passenger 71 is in contact. On the other hand, when the shape of the object in contact is greatly different from the general sole shape, it is determined that the passenger's sole is not in contact. Thus, by providing the contact sensor 58 in the footrest 10, the presence or absence of the contact of a passenger's sole can be determined easily and reliably.

  In the present embodiment, the operation mode of the moving body 1 is switched based on the determination result from the contact sensor 58 and the output from the force sensor 9. That is, the operation mode is switched between the moving body mode and the chair mode. Here, the moving body mode is a control mode as a moving body, and can be used as a moving body that moves according to the weight shift of the passenger. The chair mode is a control mode as a chair, and can be used as a chair by limiting the driving of the rear wheel 602 as compared with the case of the moving body mode. Thereby, high operativity is realizable by switching the control mode of a mobile body according to a passenger's utilization condition.

  Furthermore, the moving body 1 is provided with a drive unit 5 for driving the boarding seat 8. The control with respect to this drive part 5 is demonstrated. The drive unit 5 includes a yaw axis mechanism 501, a pitch axis mechanism 502, and a roll axis mechanism 503. The yaw axis mechanism 501, the pitch axis mechanism 502, and the roll axis mechanism 503 are rotary joints, and the posture of the passenger seat 8 changes as these operate. The yaw axis mechanism 501 rotates the passenger seat 8 around the yaw axis. The pitch axis mechanism 502 rotates the passenger seat 8 around the pitch axis. The roll shaft mechanism 503 rotates the boarding seat 8 around the roll axis. Thereby, the angle of the seat surface 8a with respect to the chassis 13 changes. That is, the seating surface 8 a is inclined with respect to the chassis 13. Therefore, the yaw axis mechanism 501, the pitch axis mechanism 502, and the roll axis mechanism 503 each have a motor for driving a joint and a speed reducer as driving sections for driving the passenger seat 8 by the driving section 5. Encoders 501a, 502a, and 503a for detecting the rotation angle of the joint motor are provided.

  As described above, the control calculation unit 51 performs control calculation according to the torque from the sensor processing unit 53. The control calculation unit 51 then outputs a command value for driving the joints of the yaw axis mechanism 501, the pitch axis mechanism 502, and the roll axis mechanism 503. That is, the control calculation unit 51 calculates the target joint angle of each axis mechanism based on the torque. And the control calculation part 51 calculates the command value according to the target joint angle, and outputs it to each motor. Thereby, each joint of the yaw axis mechanism 501, the pitch axis mechanism 502, and the roll axis mechanism 503 becomes a target joint angle. That is, each axis mechanism is driven so as to follow the target joint angle. Therefore, the posture of the moving body 1 changes and the seating surface 8a of the passenger seat 8 can be set to a desired angle.

  Thus, the inclination angle of the seating surface 8a changes according to the input to the force sensor 9. Thereby, a passenger can grasp | ascertain an input value intuitively. Therefore, operability can be improved.

  Next, the structure for changing the attitude | position of the mobile body 1 is demonstrated using FIG. FIG. 6 is a diagram showing a configuration of a mechanism for changing the posture, and shows an internal configuration of the chassis 13. As shown in FIG. 6, the chassis 13 is provided with a frame portion 2 for controlling the posture. The frame unit 2 is disposed in the housing 11. In the frame portion 2, the first parallel link mechanism 201 and the second parallel link mechanism 202 are coupled in a T-shape in plan view so as not to restrict mutual rotation at the intersection.

  The first parallel link mechanism 201 is arranged in the front-rear direction. The first parallel link mechanism 201 includes four horizontal links 201a and front and rear vertical links 201b. The horizontal links 201a are all equal in length. Although not shown in the figure, both ends of the horizontal link 201a are formed with fitting holes for fitting the connecting shaft with the vertical link 201b. The two horizontal links 201a are arranged up and down, and the two horizontal links 201a are arranged on the left and right sides of the vertical link 201b so as to sandwich the vertical link 201b.

  Although not shown from the left and right side portions of the vertical link 201b, the connecting shaft with the horizontal link 201a protrudes in the left-right direction in an arrangement in which the vertical links 201b face each other with an equal interval in the vertical direction. The connecting shaft is fitted as a rotating shaft between the horizontal link 201a and the vertical link 201b in a fitting hole of the horizontal link 201a via a bearing or the like.

  The vertical link 201b on the front side of the present embodiment is formed in an L shape. The horizontal link 201a is rotatably connected to the upper and lower ends of the vertical piece of the vertical link 201b via a connecting shaft. A free caster is provided as the wheel 6 at the tip of the horizontal piece of the vertical link 201b. When the moving direction of the moving body 1 changes, the direction of the caster rotates according to the change. The rear vertical link 201b includes a protruding portion that protrudes downward from the lower horizontal link 201a. Although not shown in the drawings, the connecting shaft with the second parallel link mechanism 202 protrudes in the front-rear direction from both the front and rear side portions of the protrusion. Further, although not shown from the portion between the upper and lower horizontal links 201a on both the front and rear side portions of the rear vertical link 201b, the connecting shaft with the second parallel link mechanism 202 is arranged in the front-rear direction in a mutually opposed arrangement. Protruding.

  The second parallel link mechanism 202 is disposed in the left-right direction. The second parallel link mechanism 202 includes four horizontal links 202a and left and right vertical links 202b. The horizontal links 202a are all equal in length. Although not shown in the drawings, both ends of the horizontal link 202a are formed with fitting holes for fitting the connecting shaft with the vertical link 202b. Further, although not shown, a fitting hole for fitting a connecting shaft with the first parallel link mechanism 201 is formed at a substantially central position in the longitudinal direction of the horizontal link 202a. The two horizontal links 202a are arranged vertically, and the two horizontal links 202a are taken as a set, and the vertical link 202b and the vertical link 201b on the rear side of the first parallel link mechanism 201 are sandwiched therebetween. The longitudinal link 202b and the longitudinal link 201b on the rear side of the first parallel link mechanism 201 are disposed on both front and rear sides. The connecting shaft protruding from the longitudinal link 201b on the rear side of the first parallel link mechanism 201 is a rotational axis between the first parallel link mechanism 201 and the second parallel link mechanism 202, and is located at a substantially central position of the lateral link 202a. The fitting hole is fitted through a bearing or the like.

  Although not shown from the front and rear side portions of the vertical link 202b, the connecting shaft with the horizontal link 202a protrudes in the front-rear direction in an arrangement in which the vertical links 202b face each other at equal intervals in the vertical direction. The connecting shaft is fitted as a rotating shaft between the horizontal link 202a and the vertical link 202b in a fitting hole at an end of the horizontal link 202a via a bearing or the like.

  As a result, the first parallel link mechanism 201 can be rotated in the front-rear direction without being constrained by the second parallel link mechanism 202. On the other hand, the second parallel link mechanism 202 is configured to be rotatable in the left-right direction without being constrained by the first parallel link mechanism 201.

  The boarding unit 3 is provided on the posture detection unit 4 and interlocks with the rotation of the frame unit 2. Specifically, the riding section 3 is connected to the upper and lower horizontal links 201 a of the first parallel link mechanism 201 via the support shaft 301. Although not shown from the left and right sides of the upper and lower portions of the support shaft 301, a connecting shaft with the upper and lower horizontal links 201 a of the first parallel link mechanism 201 protrudes in the left-right direction. Although not shown, a fitting hole for fitting the connecting shaft protruding from the support shaft 301 is formed at a substantially central position in the longitudinal direction of the horizontal link 201a of the first parallel link mechanism 201. The support shaft 301 is inserted between the horizontal links 201a arranged on the left and right of the vertical link 201b so as to sandwich the vertical link 201b. The connecting shaft protruding from the support shaft 301 is fitted into the fitting hole of the first parallel link mechanism 201 via a bearing or the like. As a result, when the first parallel link mechanism 201 rotates in the front-rear direction, the support shaft 301 and the vertical link 201b are interlocked while maintaining a parallel state.

  When the driving unit 5 is driven, the frame unit 2 operates. Thereby, the attitude | position of the mobile body 1 changes. The angle of the riding section 3 changes as the chassis 13 tilts. The drive unit 5 is provided with a yaw axis mechanism 501 that rotates around the yaw axis, a pitch axis mechanism 502 that rotates around the pitch axis, and a roll axis mechanism 503 that rotates around the roll axis. The yaw shaft mechanism 501 is provided between the support shaft 301 and the posture detection unit 4, for example. That is, the yaw axis mechanism 501 is provided closest to the riding section 3 among the three mechanisms. The yaw axis mechanism 501 is a turning joint that turns the riding part 3 around the yaw axis, and the pitch axis mechanism 502 and the roll axis mechanism 503 are rotary joints that rotate the riding part 3 around the axis.

  Next, a method for controlling the moving body 1 will be described with reference to FIG. FIG. 7 is a flowchart showing a method for controlling the moving body 1. FIG. 7 shows one cycle in the control of the moving body 1. According to this flowchart, movement control and posture control of the moving body 1 are performed. That is, FIG. 7 shows a control method for driving the rear wheel 602 and driving the drive unit 5.

  First, the joint angles of the yaw axis mechanism 501, the pitch axis mechanism 502, and the roll axis mechanism 503 are detected (step S101). That is, the angle of each joint is detected by encoders 501a, 502a, and 503a provided in each shaft mechanism. The moving body 1 has a posture corresponding to the joint angle. Next, the value of moment is detected by the force sensor 9 (step S102). That is, moments (Mx, My, Mz) are measured. Then, offset correction of the force sensor 9 is performed (step S103). That is, when the position where the passenger is sitting is shifted, an offset is given to the position. An offset is given to the control target origin so as to correct the displacement of the boarding position with respect to the input moment. Thereby, moments (Mx ′, My ′, Mz ′) in which the positional deviation is corrected can be calculated. Note that the order of step S101 and step S102 may be reversed, and step S101 and step S102 may be performed in parallel.

  The equilibrium position and orientation φid of the seat surface is input (step S104). As described above, when the moving body 1 is moving on a flat floor, the position where the seat surface 8a is horizontal is the equilibrium position posture. The joint angles of the yaw axis mechanism 501, the pitch axis mechanism 502, and the roll axis mechanism 503 at this time correspond to the equilibrium position / posture. Therefore, in this embodiment, the equilibrium position / posture is constant. That is, an equilibrium position / posture is selected so that the joint angle of each axis is constant regardless of the movement state.

  Next, compliance compensation is performed (step S105). The target joint angles of the yaw axis mechanism 501, the pitch axis mechanism 502, and the roll axis mechanism 503 are determined by the compliance control here. Compliance control is control that behaves in a pseudo manner with spring characteristics and damping characteristics. The spring characteristics and damping characteristics are shown by the operations of the yaw axis mechanism 501, the pitch axis mechanism 502, and the roll axis mechanism 503. By introducing this compliance control, the seat surface 8a can be tilted according to the force of the passenger. Here, compliance control is performed using the joint angle of the yaw axis mechanism 501, the pitch axis mechanism 502, the roll axis mechanism 503, the moment of the force sensor 9, and the equilibrium position and orientation of the seating surface 8a. Thereby, target joint angles of the yaw axis mechanism 501, the pitch axis mechanism 502, and the roll axis mechanism 503 are calculated. Details of this step will be described later.

  Then, the seating surface 8a is controlled (step S106). That is, the motor provided on each axis is driven so that the yaw axis mechanism 501, the pitch axis mechanism 502, and the roll axis mechanism 503 have the target joint angles. As a result, the inclination of the seating surface 8a is changed to the current target position / posture. Here, the inclination of the seating surface 8a changes according to the output of the force sensor 9. That is, the passenger receives a force from the seating surface 8a according to the force on the seating surface 8a. Therefore, the passenger 19 can intuitively grasp the input to the force sensor 9. Thereby, operativity improves and it can move as the passenger's 19 intent.

  Next, the operation mode switching determination is performed (step S107). That is, based on the determination result from the contact sensor 58 and the output from the force sensor 9, it is determined whether or not the operation mode of the moving body 1 is switched. First, it is determined whether or not contact is made by the contact sensors 58 arranged in an array. And the discrimination | determination information processing part 59 discriminate | determines whether the passenger | crew's sole is contacting. Here, when there are two soles, it is determined that the feet of the passenger are in contact. Then, when it is determined that the soles of the passengers are in contact and there is an output from the force sensor 9, the mode is switched to the chair mode. In other cases, the mobile mode is set. When the chair mode is set, the gain when the control calculation unit 51 calculates a command value for driving the drive motor 603 in step S111 described later is changed. Here, the gain is made smaller than that in the moving body mode. Then, the drive motor 603 is driven by applying the changed gain. In the mobile body mode, the drive motor 603 is driven without changing the gain.

  Next, the wheel rotation angle, speed, and torque are detected (step S108). That is, the operating state of the left and right rear wheels 602 is detected based on the output of the encoder 603a. Then, the forward / reverse speed of the moving body 1 is calculated from the target joint angle around the pitch axis (step S109). At this time, the forward / reverse speed is calculated based on the current target position / posture φi obtained in step S105. That is, the control calculation unit 51 calculates the forward / reverse speed based on the target joint angle of the pitch axis mechanism 502. Therefore, the target forward / reverse speed is determined by the moment of the force sensor 9, the equilibrium position / posture of the seat surface, and the joint angles.

  Further, the turning speed of the moving body 1 is calculated from the joint angles of the roll axis and the yaw axis (step S110). The control calculation unit 51 calculates the turning speed based on the current target position and orientation φi obtained in step S105. That is, the control calculation unit 51 calculates the forward / reverse speed based on the target joint angles of the yaw axis mechanism 501 and the roll axis mechanism 503. Therefore, the target forward / reverse speed is determined by the moment of the force sensor 9, the equilibrium position of the seat surface, and each joint angle.

  Then, the forward / reverse speed and the turning speed are combined to calculate the rotational torque of the left and right rear wheels 602 (step S111). That is, the rotational torque for rotating the rear wheel 602 is calculated. The torque of the left and right rear wheels 602 becomes a command value and is output to the drive motor 603. Here, feedback control is performed using the rotation angle of the rear wheel 602 detected in step S108 and the target speed. The control calculation unit 51 outputs a command value for driving the drive motor 603. Thereby, the moving body 1 moves at a speed close to the forward / backward speed calculated in step S109 and the turning speed calculated in step S110. Therefore, the moving body 1 moves as intended by the passenger in response to the input from the force sensor 9.

  In step S111, the control calculation unit 51 calculates a command value according to the weight shift of the passenger. Here, when the mode is switched to the chair mode in step S107, the gain for calculating the command value is changed. That is, the gain is changed to a smaller value than in the mobile mode. Thereby, the command value to the drive motor 603 can be suppressed with respect to the weight movement of the passenger, and the position of the moving body 1 can be moved slowly. In other words, in the chair mode, the moving body 1 can be operated according to the weight shift of the occupant without moving the moving body 1 carelessly and as if sitting on the chair. it can. Further, when the gain is changed to 0, the drive motor 603 is not controlled, and the position of the moving body 1 can be prevented from moving. That is, it is possible to fix the position of the moving body 1 on the spot and operate only the seating surface according to the weight shift of the passenger. In the mobile body mode, the drive body 603 is driven without changing the gain, so that the mobile body 1 and the seating surface are operated according to the weight shift of the passenger. Furthermore, the seating surface is fixed and the wheel 6 is not operated, and can be used as a chair. Thereby, high operativity is realizable by switching the control mode of a mobile body according to a passenger's utilization condition.

  Next, the compliance compensation in step S105 will be described with reference to FIG. FIG. 8 is a flowchart showing details of the compliance control. First, the passenger moves weight (step S201). That is, in order to move the mobile body 1, input is performed by weight movement. Thereby, the force applied to the force sensor 9 changes. Torque τi around the three axes applied to the seating surface 8a is detected by the force sensor 9 (step S201). This torque τi can be calculated from the input moment. Torque τθz (= Mz ′) around the yaw axis, torque τθy (= My ′) around the pitch axis, and torque τθx (= Mx ′) around the roll axis are calculated. As described above, τi is torque and includes components for roll, pitch, and yaw. That is, τi includes three components τθx, τθy, and τθz.

  In parallel with steps S201 and S202, an equilibrium position and orientation φid of the seating surface is input (step S203). This equilibrium position / orientation φid indicates a reference position that serves as a reference for the yaw axis mechanism 501, the pitch axis mechanism 502, and the roll axis mechanism 503. That is, a joint angle that is a reference for each axis mechanism is input to the control calculation unit 51. In the present embodiment, the value of the equilibrium position and orientation φid of the seating surface is fixed. The joint angle used as the equilibrium position / posture φid is stored in the memory or the like of the control calculation unit 51. Then, the equilibrium position / posture φid is input by reading the joint angle. When the moving body 1 is moving on a flat floor, the position where the seating surface 8a is horizontal is the equilibrium position. Therefore, a fixed joint angle in each axis mechanism indicates the equilibrium position posture φid. The equilibrium position and orientation φid is determined for each axis. The equilibrium position / posture φid is composed of three components: an equilibrium position / posture φθxd around the roll axis, an equilibrium position / posture φθyd around the pitch axis, and an equilibrium position / posture φθzd around the yaw axis. These correspond to the joint angle which is the reference of each axis mechanism.

  Next, the current target position / posture φi of the seating surface is obtained from the torque τi and the equilibrium position / posture φid (step S204). Here, the control calculation unit 51 calculates the current target position and orientation φi of the riding unit 3 based on the mathematical formula described in step S204. That is, the current target position and orientation φi can be calculated by solving the equation described in step S204. The current target position / posture φi includes, for example, a target joint angle of the yaw axis mechanism 501, a target joint angle of the pitch axis mechanism 502, and a target joint angle of the roll axis mechanism 503. Therefore, the current target position / posture φi is composed of three components of φθx, φθy, and φθz. The target joint angle in each axis mechanism is calculated based on the torque τi and the equilibrium position / posture φid.

  In the equation of step S204, Mi is an inertia matrix, Di is a viscosity coefficient matrix, Ki is a stiffness matrix, and these are 3 × 3 matrices. The inertia matrix, the viscosity coefficient matrix, and the stiffness matrix can be set according to the configuration and operation of the moving body 1. Moreover, (dot) attached | subjected on (phi) i and (phi) id has shown the time differentiation. When one dot is attached, one-time differentiation is indicated, and when two dots are attached, two-time differentiation is indicated. For example, if one dot is attached on φi, the target posture speed is obtained, and if two dots are attached, the target posture acceleration is obtained. Similarly, when one dot is attached on φid, the equilibrium position / posture speed is obtained, and when two dots are attached, the equilibrium position / posture acceleration is obtained. In this embodiment, since the equilibrium position / posture φid is fixed, the equilibrium position / posture speed and the equilibrium position / posture acceleration are basically zero.

  Next, the gain is changed according to the mode (step S205). In the case of the chair mode, the gain is changed to a smaller one. When in the mobile mode, the gain is not changed.

  Then, movement control is performed based on the current target position and orientation φi (step S206). Further, in parallel with the movement control, tilt control of the seating surface is performed (step S207). In the movement control, as shown in step S109 and step S110, the forward / reverse speed and the turning speed are calculated based on the current target position / posture φi. That is, the forward / reverse speed of the moving body 1 is determined according to the current target position / posture φθy. The greater the value of φθy, the greater the forward / reverse speed. Further, the turning speed of the moving body 1 is determined according to the current target position / posture φθx, φθz. The turning speed increases as the values of φθx and φθz increase. Then, the rotational torque of the left and right rear wheels 602 is calculated from the forward / reverse speed and the turning speed. Here, the target rotational speed for the left and right rear wheels 602 is calculated by combining the forward / reverse speed and the turning speed. Then, feedback control for calculating the rotational torque is performed from the difference between the current rotational speed and the target rotational speed. The control calculation unit 51 outputs this rotational torque as a command value to the drive motor 603. In this way, movement control is performed.

  The inclination control of the seating surface 8a is also performed based on the current target position / posture φi. That is, the command value for each axis mechanism is calculated using the current target position / posture φi as an input. Based on the current target position and orientation φi, the command value of each axis mechanism is calculated. And according to this command value, the yaw axis mechanism 501, the pitch axis mechanism 502, and the roll axis mechanism 503 are driven. Therefore, the inclination of the seating surface 8 a changes so as to be the target joint angle of the yaw axis mechanism 501, the target joint angle of the pitch axis mechanism 502, and the target joint angle of the roll axis mechanism 503. In this way, each axis mechanism is driven so as to follow the target joint angle. Thereby, the attitude | position of the riding part 3 changes and the inclination of the seat surface 8a changes. Therefore, the passenger receives force from the seating surface 8a. Then, the seat surface 8a becomes the current target position / posture φi.

  Thus, the movement control and the tilt control of the seating surface 8a are performed using the current target position / posture φi. That is, the command value for each motor is calculated based on the current target position and orientation φi. The control calculation unit 51 drives the rear wheels 602 and the drive unit 5 based on the drive amount of the drive unit 5 that drives the passenger seat, the equilibrium position and orientation of the seating surface 8a, and the measurement signal from the force sensor 9. A command value for calculating is calculated.

  Thus, the method of fixing the passenger seat 8 to the chassis 13 is not rigidly coupled but has a structure that is deformed and displaced to some extent with respect to the input. Therefore, it is possible to control to make a soft movement like a spring. That is, if it represents with a motor vehicle, the drive part 5 functions as a suspension. And based on the detection result in the force sensor 9, the drive part 5 is controlled.

  Thereby, operability can be improved. That is, by driving the mechanism around each axis, it is possible to intuitively understand how much operation is being performed. The difference between the actual operation amount and the intended operation amount can be recognized. Therefore, the shift of the actual operation amount with respect to the intended operation amount can be suppressed. Further, even when the occupant is receiving centrifugal force, an operation for performing the intended movement is possible. That is, it is possible to prevent the speed from being increased more than necessary or the speed from being decreased more than necessary. Thereby, the mobile body 1 with high operability can be realized.

  In the present embodiment, the joint angle at which the equilibrium position / posture becomes constant regardless of the movement state. It becomes easier for the passenger to grasp the operation amount. For example, when the passenger removes the force, the seat surface 8a returns to the equilibrium position / posture. Thereby, operability can be improved. The movement control is also performed based on the current target position / posture φi. Thereby, the forward / reverse speed and the turning speed can be calculated as intended by the passenger. Therefore, operability can be improved. The control calculation unit 51 generates command values for driving the rear wheels 602 and the driving unit 5 based on the driving amount of the driving unit 5, the equilibrium position and orientation φid of the passenger seat 8, and the measurement signal from the force sensor 9. calculate. Therefore, the command value can be accurately calculated, and the vehicle can move as intended by the passenger.

  The input of the equilibrium position / posture may be dynamically changed. For example, when the moving body 1 moves on an inclined surface or a step surface, the seat surface 8a is inclined according to the inclined surface. Therefore, the drive unit 5 may be driven according to the inclined surface. For example, even if it is an inclined surface, the operability is improved by driving the drive unit 5 so that the seat surface approaches the horizontal even when the inclined surface or one wheel step is moved.

Embodiment 2. FIG.
In the present embodiment, the mode switching means for switching the operation mode is different between the moving body mode and the chair mode as compared with the first embodiment. That is, in the present embodiment, a switch is provided for inputting switching of the operation mode between the moving body mode and the chair mode. Except for the points specifically described below, other configurations and controls are the same as those in the first embodiment, and thus the description thereof is omitted.

  The configuration of the mode switching means of the moving body 1 according to the present embodiment will be described with reference to FIG. FIG. 9 is a diagram showing a configuration of a passenger seat according to the present embodiment. The passenger seat 8 is provided with an armrest portion 20 and a backrest portion 21. The armrest portions 20 are provided on both sides of the boarding seat 8 and support the passenger's elbow. The backrest portion 21 is provided on the rear side of the passenger seat 8 and supports the back of the passenger. That is, the passenger is supported by the armrest portion 20 and the backrest portion 21. Thereby, a passenger can be prescribed | regulated to the predetermined position of a boarding seat. Therefore, it is possible to effectively suppress the front-rear and left-right shifts of the seated position of the passenger with respect to the boarding position restricted in advance. In addition, the shape of the armrest part 20 and the backrest part 21 is not limited to the shape shown in FIG. For example, the armrest portion 20 may be provided at a position above the seating surface 8 a so as to extend forward from both sides of the backrest portion 21.

  In addition, in FIG. 9, although demonstrated as what has both the armrest part 20 and the backrest part 21, it should just have at least one of the armrest part 20 and the backrest part 21. FIG. That is, even if it has only the armrest part 20 or only the backrest part 21, the shift | offset | difference of the position where a passenger sits can be suppressed effectively. Further, the armrest portion 20 may be provided on at least one side of the boarding seat 8. Further, the passenger seat 8 may have a seat belt for holding the trunk of the passenger. Thereby, the position where a passenger sits can be limited more by fixing a passenger. Therefore, it is possible to more effectively suppress the displacement of the position where the passenger sits.

  The armrest portion 20 is provided with a switch 22 for inputting switching of the operation mode between the moving body mode and the chair mode. That is, the passenger 71 can switch the operation mode between the moving body mode and the chair mode by operating the switch 22. Thereby, the switching determination in step S107 described above is performed. When the chair mode is set, the gain is changed. Here, the gain is changed to a smaller value than in the mobile mode. Then, the changed gain is applied and the drive motor 603 is driven. In the moving body mode, the drive motor 603 is driven without changing the gain.

Thereby, in the case of the chair mode, the position of the mobile body 1 can be moved slowly by reducing the responsiveness of the drive motor 603 with respect to the weight movement of the passenger. In other words, in the case of the chair mode, the seat surface can be operated according to the weight shift of the occupant as if sitting on the chair without moving the moving body 1 carelessly. .
Here, as shown in FIG. 9, by providing the backrest portion 21 in the passenger seat 8, in the chair mode, for example, the passenger can feel as if leaning against the backrest. In the mobile body mode, the mobile body 1 and the seating surface are operated according to the weight shift of the passenger. Thereby, high operativity is realizable by switching the control mode of a mobile body according to a passenger's utilization condition.

Other Embodiments In the above-described embodiment, it has been described that the gain is changed in the chair mode, but various changing methods are conceivable as a method of changing the gain. For example, an adjuster that adjusts the magnitude of the gain may be further provided in the moving body 1, and the magnitude of the gain may be changed according to the operation amount of the adjuster by the passenger 1. Thereby, the position of the mobile body 1 can be moved slowly in the chair mode, for example, by changing the responsiveness of the drive motor 603 with respect to the weight movement of the passenger. Moreover, you may make it switch between chair mode and mobile body modes according to the operation amount of a regulator. Thereby, according to a passenger's utilization condition, the control mode of a mobile body can be switched more flexibly and high operativity can be implement | achieved.

  The present invention is not limited to the wheel-type moving body 1 but can be applied to a walking-type moving body. That is, it is only necessary that a moving mechanism for moving the main body such as the chassis 13 with respect to the floor surface is provided.

It is a front view which shows typically the mobile body concerning Embodiment 1 of this invention. It is a side view which shows typically the mobile body concerning Embodiment 1 of this invention. It is a figure for demonstrating the operation | movement around each axis | shaft. It is a block diagram which shows the control system for moving the mobile body concerning Embodiment 1 of this invention. It is a side view which shows the structure of the boarding seat of the moving body concerning Embodiment 1 of this invention. It is a perspective view which shows the structure for changing the attitude | position of a moving body. It is a flowchart which shows control of the moving body concerning Embodiment 1 of this invention. It is a flowchart which shows the compliance control in the moving body concerning Embodiment 1 of this invention. It is a side view which shows the structure of the boarding seat of the moving body concerning Embodiment 2. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Mobile body, 2 Frame part, 3 Boarding part, 4 Posture detection part, 5 Drive part,
501 yaw axis mechanism, 501a encoder,
502 pitch axis mechanism, 502a encoder,
503 roll shaft mechanism, 503a encoder,
603 drive motor, 603a encoder,
6 wheels, 601 front wheels, 602 rear wheels,
603 drive motor, 603a encoder,
8 Passenger seat, 8a Seat, 9 Force sensor, 10 Footrest,
11 housing, 12 discriminating part, 13 chassis,
20 armrests, 21 backrests, 22 switches,
51 control calculation unit, 52 battery, 53 sensor processing unit, 58 contact sensor, 59 discrimination information processing unit,
201 first parallel link mechanism, 201a horizontal link, 201b vertical link,
202 second parallel link mechanism, 202a horizontal link, 202b vertical link,
301 Support shaft

Claims (10)

The boarding seat where the passenger boarded,
A main body for supporting the boarding seat;
A moving mechanism for moving the main body,
A sensor that outputs a measurement signal corresponding to the force applied to the seating surface of the passenger seat;
A boarding seat drive mechanism for driving the boarding seat so as to change the angle of the seating surface of the boarding seat;
Control calculation for calculating command values for driving the moving mechanism and the passenger seat drive mechanism based on the driving amount of the passenger seat drive mechanism, the equilibrium position and posture of the passenger seat, and the measurement signal from the sensor And
E Bei a mobile mode, and a mode switching means for switching the operation mode between the chair mode to enable use as a chair by limiting the driving of the moving mechanism than in the mobile mode,
The mode switching means is
In the case of the chair mode, the gain when the control calculation unit calculates a command value for driving the moving mechanism is made smaller than in the case of the moving body mode.
Moving body. The mode switching means includes a contact sensor that determines whether or not the passenger is in contact with the passenger,
The moving body according to claim 1, wherein an operation mode is switched between the moving body mode and the chair mode based on an output from the sensor and a determination result from the contact sensor. The mobile body according to claim 1, wherein the mode switching means includes a switch for inputting switching of an operation mode between the mobile body mode and the chair mode. The mode switching means is
The moving body according to claim 1 , further comprising an adjuster that adjusts the magnitude of the gain. Based on the driving amount of the passenger seat driving mechanism, the equilibrium position and posture of the passenger seat and the measurement signal from the sensor, the target driving amount of the passenger seat driving mechanism is calculated,
The moving body according to any one of claims 1 to 4 , wherein a forward / backward moving speed of the moving body is calculated based on a target drive amount of the passenger seat drive mechanism. The boarding seat where the passenger boarded,
A main body for supporting the boarding seat;
A moving mechanism for moving the main body,
A sensor that outputs a measurement signal corresponding to the force applied to the seating surface of the passenger seat;
A boarding seat drive mechanism for driving the boarding seat so as to change the angle of the seating surface of the boarding seat ,
Calculating a command value for driving the moving mechanism and the passenger seat drive mechanism based on a driving amount of the passenger seat drive mechanism, an equilibrium position and posture of the passenger seat, and a measurement signal from the sensor ; ,
E Bei a mobile mode, and a step of switching the operation mode between the chair mode to enable use as a chair by limiting the driving of the moving mechanism than in the mobile mode,
In the case of the chair mode, the gain when calculating the command value for driving the moving mechanism and the passenger seat drive mechanism is made smaller than in the case of the moving body mode.
Control method for moving objects. A contact sensor that determines whether the passenger is in contact,
Based on the determination result from the contact sensor and the output from the sensor, the moving body according to claim 6, characterized in that for switching the operation mode between the mobile mode and the chair mode Control method. The method for controlling a moving body according to claim 6, wherein an operation mode is switched between the moving body mode and the chair mode by a switch. The method for controlling a moving body according to any one of claims 6 to 8 , wherein the gain is adjusted by an adjuster. Based on the driving amount of the passenger seat driving mechanism, the equilibrium position and posture of the passenger seat and the measurement signal from the sensor, the target driving amount of the passenger seat driving mechanism is calculated,
The method for controlling a moving body according to any one of claims 6 to 9 , wherein the moving speed of the moving body is calculated based on a target drive amount of the passenger seat drive mechanism.

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