JP5309874B2 - Traveling apparatus and traveling method - Google Patents

Description

  The present invention relates to a traveling device and a traveling method for traveling with a passenger onboard, and more particularly to a traveling device and a traveling method that allow a passenger to appropriately recognize a moving speed.

2. Description of the Related Art Conventionally, a traveling device that travels with a passenger on the basis of an operation of an operation unit by the passenger is known. There is also known a walking speed instruction device that informs the operator of the walking timing with an electronic sound at regular intervals (see, for example, Patent Document 1).
Japanese Patent No. 2633203

  By the way, in the conventional traveling device, for example, when the passenger operates the operation unit once and then continues monotonous driving at a constant speed for a certain time without performing a special operation, the passenger gradually The sense of speed tends to decrease. On the other hand, the walking speed instruction apparatus shown in Patent Document 1 is merely for informing the walking timing for the operator to walk as described above.

  The present invention has been made in order to solve such a problem, and a main object of the present invention is to provide a traveling device and a traveling method that enable a passenger to recognize the moving speed more appropriately.

  One aspect of the present invention for achieving the above object is a travel device that includes travel speed detection means for detecting travel speed and travels with a passenger on the travel, the travel being detected by the travel speed detection means. A cycle calculation unit that calculates a cycle according to speed, and a movement speed transmission unit that operates based on the cycle calculated by the cycle calculation unit and transmits the movement speed to a passenger. This is a featured traveling device. According to this aspect, the passenger can more appropriately recognize the moving speed.

  Further, in this aspect, the period calculating means calculates a period according to the moving speed based on the moving speed detected by the moving speed detecting means and a period map set in advance according to the walking period. It may be calculated.

  Furthermore, in this one aspect, the period calculation means may shorten the period as the movement speed detected by the movement speed detection means increases.

  In this aspect, the cycle calculating unit may increase the cycle shortening rate when the moving speed detected by the moving speed detecting unit is equal to or higher than a first predetermined speed.

  In this aspect, the moving speed transmission means may increase the output at a cycle according to the moving speed detected by the moving speed detecting means.

  In this aspect, the moving speed transmission unit is configured to generate a light device that generates light, a sound output device that generates sound, a vibration device that generates vibration, and an image based on the cycle calculated by the cycle calculation unit. It may include at least one of a display device to be displayed, a blower device that generates air flow, a speed control unit that changes a moving speed, and a direction control unit that meanders the traveling device.

  On the other hand, one aspect of the present invention for achieving the above object is a traveling device that includes an operation detection unit that detects an operation of the operation unit by a passenger, and travels with the passenger on the vehicle. A period calculating means for calculating the detected period of the operation; a target moving speed calculating means for calculating a target moving speed according to the operation period calculated by the period calculating means; and the target moving speed calculating means. And a control unit that controls the driving of the travel device so as to achieve the target moving speed calculated by (1).

  Further, in this one aspect, the target moving speed calculating unit calculates the target moving speed based on the cycle of the operation calculated by the cycle calculating unit and a cycle map set in advance according to the walking cycle. It may be calculated.

  Furthermore, in this one aspect, the target moving speed calculation means may increase the moving speed of the target as the operation period calculated by the period calculation means becomes shorter.

  Still further, in this one aspect, the control unit is configured so that the traveling device has the target moving speed calculated by the target moving speed calculating unit when a constant moving speed is continued for a predetermined time or longer. You may control the drive of.

  Note that one aspect of the present invention for achieving the above object includes a traveling speed detecting step for detecting a traveling speed, and is a traveling method for traveling with a passenger, which is detected in the traveling speed detecting step. A cycle calculating step of calculating a cycle according to the moving speed, and a moving speed transmitting step of operating based on the cycle calculated in the cycle calculating step and transmitting the moving speed to a passenger. The running method characterized by this may be used.

  Another aspect of the present invention for achieving the above object includes an operation detection step of detecting an operation of the operation unit by a passenger, and is a traveling method of traveling with a passenger on the operation detection step. A cycle calculating step for calculating a cycle of the detected operation; a target moving speed calculating step for calculating a target moving speed according to the cycle of the operation calculated in the cycle calculating step; and the target moving speed calculating step. And a control step of controlling the driving of the travel device so as to achieve the target moving speed calculated in (1).

  According to the present invention, the passenger can more appropriately recognize the moving speed.

The best mode for carrying out the present invention will be described below with reference to the accompanying drawings.
(First embodiment)

  Fig.1 (a) is a front view which shows the outline of the traveling apparatus which concerns on 1st Embodiment of this invention, FIG.1 (b) is the side which shows the outline of the traveling apparatus which concerns on 1st Embodiment of this invention. FIG. The traveling device 10 according to the present embodiment is, for example, a pair of wheels 2L, 2R that are coaxially arranged on both sides in a direction orthogonal to the traveling direction of the vehicle body 1 and are rotatably supported by the vehicle body 1. It is comprised as a coaxial two-wheeled vehicle provided with. The traveling device 10 includes a vehicle body 1, a pair of left and right wheels 2L and 2R, a pair of left and right wheel drive units 3L and 3R, and an operation lever 4.

  In the present specification, the pitch axis is an axis corresponding to the axle of the pair of wheels 2L, 2R. The roll axis is an axis that passes through the center of the vehicle body 1 and is parallel to the traveling direction of the traveling device 10.

  A pair of left and right wheel drive units 3L and 3R are attached to a pair of side surfaces of the vehicle main body 1, respectively. Each wheel drive unit 3L, 3R rotates and drives each wheel 2L, 2R independently. Each wheel drive unit 3L, 3R can be constituted by, for example, a wheel drive motor and a speed reducer that decelerates the rotational force of the wheel drive motor and transmits it to each wheel 2L, 2R.

  The vehicle body 1 supports the operation lever 4 so as to be rotatable in the roll axis direction. On the upper surface of the vehicle body 1, two step portions 1 a and 1 b are provided on which the rider's feet can be put on the left and right sides of the operation lever 4, respectively.

  When the operation lever 4 is tilted in the pitch axis direction (front-rear direction), the traveling device 10 is moved forward or backward, and when the operation lever 4 is tilted in the roll axis direction (left-right direction), the turning operation of the traveling device 10 is performed. Executed.

  FIG. 2 is a block diagram showing an outline of the system configuration of the traveling apparatus according to the first embodiment of the present invention. The traveling device 10 according to the present embodiment includes a pair of left and right wheel drive units 3L and 3R, a control device 5, an angle detection sensor 6, a pair of left and right wheel speed sensors 7L and 7R, a posture sensor unit 8, and a left and right A pair of drive circuits 9L, 9R, a light device 13, a sound output device 14, a vibration device 15, a display device 16, and a blower device 17 are provided.

  The angle detection sensor 6 is attached to the rotation shaft of the operation lever 4. In addition, as the angle detection sensor 6, for example, a potentiometer, a variable capacitor structure sensor, or the like can be applied. The angle detection sensor 6 detects the operation amount and the operation direction when the operation lever 4 is rotated in a desired direction in which the passenger wants to turn.

  When the operation lever 4 is operated, the angle detection sensor 6 supplies an operation signal corresponding to the operation amount and the operation direction to the control device 5. And the control apparatus 5 controls the drive of a pair of wheel drive unit 3L, 3R according to the operation signal from the angle detection sensor 6, and produces a rotation difference in right-and-left wheel 2L, 2R. As a result, the traveling device 10 can turn at a desired vehicle speed and direction.

  The left and right wheel speed sensors 7L and 7R are disposed on the left and right wheels 2L and 2R, respectively, and detect the wheel speeds of the wheels 2L and 2R, respectively. The wheel speed sensors 7L and 7R supply the detected wheel speeds of the wheels 2L and 2R to the control device 5.

  The attitude sensor unit 8 is disposed in the vehicle body 1 and can detect a pitch angle, a pitch angular velocity, an acceleration, and the like of the vehicle body 1 when the traveling device 10 is traveling. The attitude sensor unit 8 is composed of, for example, a gyro sensor, an acceleration sensor, and the like.

  When the operation lever 4 is tilted forward or backward, the vehicle body 1 is also tilted in the same direction in conjunction with the operation lever 4. The posture sensor unit 8 can detect the pitch angle and pitch angular velocity (posture value) of the vehicle main body 1 corresponding to the inclination of the operation lever 4.

  The control device 5 calculates the tilt direction (forward or backward) of the operation lever 4 and the corresponding moving speed based on the pitch angle, pitch angular velocity, etc. of the vehicle body 1 detected by the attitude sensor unit 8. And the control apparatus 5 drive-controls each wheel drive unit 3L and 3R so that the traveling apparatus 10 may move to the calculated inclination direction and moving speed. Thereby, the traveling apparatus 10 can move forward or backward at a desired moving speed.

  The pair of drive circuits 9L and 9R are built in the vehicle body 1 and drive the left and right wheel drive units 3L and 3R, respectively. Further, the vehicle body 1 is provided with a control device 5 that outputs a control signal for driving and controlling the wheel drive units 3L and 3R via the drive circuits 9L and 9R.

  The control device 5 executes predetermined arithmetic processing based on the detection signal from the attitude sensor unit 8, the operation signal from the angle detection sensor 6, and the like, and sends necessary control signals to the pair of wheel drive units 3L and 3R. Output.

  The control device 5 includes a movement speed calculation unit 11 that calculates the movement speed V of the traveling device 10 and a cycle calculation unit 12 that calculates a cycle T according to the movement speed V calculated by the movement speed calculation unit 11. ing. The control device 5 temporarily stores a CPU (Central Processing Unit) that performs control processing, arithmetic processing, and the like, a ROM (Read Only Memory) that stores a control program executed by the CPU, an arithmetic program, processing data, and the like. The microcomputer is composed mainly of a RAM (Random Access Memory) or the like stored in the memory. Further, the moving speed calculation unit 11 and the cycle calculation unit 12 can be realized by, for example, a program stored in the ROM and executed by the CPU.

  Based on the wheel speeds of the wheels 2L and 2R from the wheel speed sensors 7L and 7R, the movement speed calculation unit 11 calculates a movement speed V of the traveling device 10 by performing a well-known calculation process. The movement speed calculation unit 11 outputs the calculated movement speed V to the period calculation unit 12.

  The period calculation unit 12 calculates a period T corresponding to the movement speed V based on the movement speed V calculated by the movement speed calculation unit 11 and a preset period map. This cycle map is a map showing the relationship between the moving speed V of the travel device 10 and the cycle T, and is set based on, for example, a walking cycle (walking pitch) when a person normally walks or runs. Further, this period map is set so that, for example, as the moving speed V increases, the period T is gradually shortened and the pitch is increased (FIG. 3). This is based on the nature of a person's walking cycle that the walking cycle becomes shorter (the walking pitch becomes faster) as the walking speed of the person increases. The cycle calculation unit 12 outputs a cycle signal corresponding to the calculated cycle T to a light device 13, a sound output device 14, a vibration device 15, a display device 16, and / or a blower device 17 which will be described later.

  The light device 13 is provided on, for example, the operation lever 4 and the vehicle main body 1 that can be visually recognized by the passenger, and lights or blinks the light. Further, the light device 13 can blink the light at the cycle T based on the cycle signal output from the cycle calculation unit 12 of the control device 5. Note that the light device 13 may repeat, for example, light / dark, color change (red / blue, etc.) in the cycle T based on the cycle signal output from the cycle calculation unit 12.

  The sound output device 14 is configured by, for example, a speaker device and is provided on the operation lever 4, the vehicle main body 1, and the like that can be heard by the passenger, and outputs sound. The sound output device 14 can output an arbitrary sound with the period T based on the periodic signal output from the period calculation unit 12 of the control device 5.

  The vibration device 15 is provided in, for example, the handle portion of the operation lever 4, the step portions 1 a and 1 b of the vehicle main body 1, etc. with which the passenger directly or indirectly contacts, and generates vibration. Further, the vibration device 15 can generate vibration at the cycle T based on the periodic signal output from the cycle calculation unit 12 of the control device 5.

  The display device 16 is composed of, for example, a liquid crystal display device, and is provided on the operation lever 4, the vehicle main body 1, and the like that can be visually recognized by a passenger, and displays an image. Further, the display device 16 can operate (blink, etc.) the image on the screen at the cycle T based on the cycle signal output from the cycle calculation unit 12 of the control device 5.

  The blower device 17 is provided, for example, on the operation lever 4, the vehicle main body 1, etc., and generates air blow to the passenger. In addition, the blower device 17 can generate air blow at the cycle T based on the cycle signal output from the cycle calculation unit 12 of the control device 5.

  By the way, in the conventional traveling device, for example, when the passenger operates the operation unit once and then continues monotonous driving at a constant speed for a certain time without performing a special operation, the passenger gradually The sense of speed tends to decrease.

  Therefore, in the traveling device 10 according to the first embodiment, the cycle calculating unit 12 of the control device 5 is based on the moving speed V calculated by the moving speed calculating unit 11 and the cycle map according to the walking cycle of the person. Thus, the period T corresponding to the moving speed V is calculated. The light device 13, the sound output device 14, the vibration device 15, the display device 16, and / or the blower device 17 are light, sound, vibration, image, and / or the cycle T calculated by the cycle calculation unit 12. , Each generating air blow.

  Thus, as described above, the passenger can perform light, sound, vibration, in a cycle according to a person's walking cycle even if he / she continues to travel monotonically at a constant speed without performing a special operation. By recognizing images, air blows, etc., the moving speed of the travel device 10 can be recognized while obtaining a more natural speed sensation. That is, the passenger can more appropriately recognize the moving speed of the traveling device 10.

  FIG. 4 is a flowchart illustrating an example of a control processing flow of the traveling device according to the first embodiment. Note that the control processing flow shown in FIG. 4 and FIG. 8 to be described later is repeatedly executed at predetermined time intervals, for example.

  First, the attitude sensor unit 8 detects the pitch angle, pitch angular velocity, etc. of the vehicle body 1 corresponding to the inclination of the operation lever 4 (FIG. 5A) (step S100). Based on the pitch angle, pitch angular velocity, etc. of the vehicle body 1 detected by the attitude sensor unit 8, the control device 5 causes the traveling device 10 to move in the inclination direction of the operation lever 4 and at the moving speed thereof. The wheel drive units 3L and 3R are driven and controlled (step S101).

  Moreover, the moving speed calculation part 11 of the control apparatus 5 performs a well-known calculation process based on the wheel speed of each wheel 2L, 2R from the wheel speed sensors 7L, 7R, and the moving speed V of the traveling apparatus 10 (FIG. 5). (B)) is calculated (moving speed detecting step) (step S102).

  Next, the cycle calculation unit 12 calculates a cycle T according to the movement speed V based on the movement speed V calculated by the movement speed calculation unit 11 and a preset cycle map (cycle calculation). Process) (step S103). And the period calculation part 12 outputs the periodic signal according to the calculated period T with respect to the sound output device 14 and the vibration apparatus 15, for example.

  Thereafter, the sound output device 14 generates a sound “for example, beep, beep,...” With the period T based on the period signal from the period calculation unit 12 (FIG. 5C). Similarly, based on the periodic signal from the period calculation unit 12, the vibration device 15 generates vibration “blue, blue,...” With the period T (FIG. 5D) (movement speed transmission step). (Step S104).

  As described above, in the traveling device 10 according to the first embodiment, the period calculation unit 12 is based on the movement speed V calculated by the movement speed calculation unit 11 and the period map, and the period T corresponding to the movement speed V. Is calculated. The light device 13, the sound output device 14, the vibration device 15, the display device 16, and / or the blower device 17 are light, sound, vibration, image, and / or the cycle T calculated by the cycle calculation unit 12. Generate blast. Thereby, the passenger recognizes the moving speed of the traveling device 10 while obtaining a more natural speed sensation by recognizing light, sound, vibration, image, air blow, etc. in a cycle according to the walking cycle of the person. can do. That is, the passenger can more appropriately recognize the moving speed of the traveling device 10.

  Next, a modified example of the traveling device 10 according to the first embodiment will be described in detail.

  In the first embodiment, the control device (speed control unit) 5 has the wheel drive unit 3L so as to change (for example, pulsate) the moving speed of the traveling device 10 in the cycle T calculated by the cycle calculation unit 12. 3R may be driven and controlled (FIG. 5E).

  In the first embodiment, the control device (direction control unit) 5 drives and controls the wheel drive units 3L and 3R so that the traveling device 10 meanders at the cycle T calculated by the cycle calculation unit 12. Good.

  In the first embodiment, the control device 5 may apply a load to the operation unit (the operation lever 4, the operation actuator, etc.) operated by the occupant at the cycle T calculated by the cycle calculation unit 12. A load may be applied to a portion where the contact is directly or indirectly.

  In the first embodiment, the period map of the period calculation unit 12 may be set so that the shortening rate of the period T increases when the moving speed V is equal to or higher than the first predetermined speed V1 (FIG. 6). . Accordingly, the passenger can more reliably recognize that the moving speed V is equal to or higher than the first predetermined speed V1 and is in the speed range to be noted. Furthermore, when the moving speed V is equal to or higher than the second predetermined speed V2, the period T may be set to be constant. This is because if the period is too short, it is difficult for the passenger to recognize the period.

  In the first embodiment, the control device 5 calculates the period T according to the movement speed V only when the constant movement speed V continues for a predetermined time or more, and the write device 13 with the calculated period T. The sound output device 14, the vibration device 15, the display device 16, and / or the blower device 17 may be operated.

  In the first embodiment, the control device 5 calculates the cycle T according to the moving speed V, and the light device 13, the sound output device 14, the vibration device 15, the display device 16, and the air blower with the calculated cycle T. Any of the devices 17 may be operated in combination.

  In the first embodiment, the light device 13, the sound output device 14, the vibration device 15, the display device 16, and / or the blower device 17 have the period T calculated by the period calculation unit 12 and light, sound, vibration, You may change the output intensity | strength in a fixed period, outputting an image and / or ventilation. For example, the sound output device 14 may output sound by increasing the sound pressure every three pulses. Further, the vibration device 15 may vary the amplitude and the like for each arbitrary number of pulses.

In addition, the light device 13, the sound output device 14, the vibration device 15, the display device 16, and / or the blower device 17 are light, sound, vibration, image, and / or the period T calculated by the period calculation unit 12. While outputting the air, the output intensity may be increased at a cycle T1 corresponding to the moving speed V. Thereby, the passenger can feel the moving speed in a wider speed range.
(Second Embodiment)

  FIG. 7 is a block diagram showing an outline of the system configuration of the traveling apparatus according to the second embodiment of the present invention. The traveling device 20 according to the second embodiment includes an operation detection unit 21 that detects an operation in the operation unit 27, a cycle calculation unit 22 that calculates a cycle T of the operation detected by the operation detection unit 21, and a cycle calculation unit 22. A target moving speed calculation unit 23 that calculates a target moving speed V according to the calculated operation cycle T, and the travel device so that the target moving speed V is calculated by the target moving speed calculation unit 23. And a control device 25 having a control unit 24 that controls the driving of the motor 20.

  The operation unit 27 includes arbitrary members that can be operated by the passenger, such as the operation lever 4 and the step units 1a and 1b of the vehicle main body 1.

  The operation detection unit 21 includes an angle detection sensor 6 that detects an operation amount (roll angle) and an operation direction of the operation lever 4 by a passenger, an attitude sensor unit 8 that detects an operation amount (pitch angle) of the vehicle body 1, and the like. It includes any device that can detect an operation (operation amount, operation direction, etc.) in the operation unit 27 such as an operation switch 26 that detects an on / off operation.

  The cycle calculation unit 22 calculates the operation cycle (operation cycle) T of the operation unit 27 detected by the operation detection unit 21. For example, when the operation lever 4 is swung in the left-right direction by the occupant, the period calculation unit 22 changes the operation amount (roll angle) θ of the operation lever 4 detected by the angle detection sensor 6 (dθ). / Dt) and the period T of the operation is calculated. When the operation lever 4 and the step portions 1 a and 1 b of the vehicle main body 1 are swung in the front-rear direction, the cycle calculation unit 22 calculates a variable of the pitch angle of the vehicle main body 1 detected by the attitude sensor unit 8. Then, the operation cycle T is calculated. Further, when the operation switch 26 is turned on / off (such as a pressing operation), the cycle calculation unit 22 calculates the cycle T of the operation based on the on / off signal output from the operation switch 26. The period calculation unit 22 outputs the calculated operation period T to the target moving speed calculation unit 23.

  The target moving speed calculation unit 23 calculates a target moving speed V corresponding to the operation cycle T based on the operation cycle T calculated by the cycle calculation unit 22 and the cycle map. Note that this periodic map is substantially the same as the periodic map described in the first embodiment. That is, the period calculation unit 12 according to the first embodiment calculates the period T according to the movement speed V based on the movement speed V and the period map, but the target movement speed according to the second embodiment. Conversely, the calculation unit 23 calculates the moving speed V corresponding to the cycle T based on the cycle T and the cycle map. The target moving speed calculation unit 23 outputs the calculated target moving speed V to the control unit 24.

  The control unit 24 drives and controls the wheel drive units 3L and 3R via the drive circuits 9L and 9R so that the target movement speed V calculated by the target movement speed calculation unit 23 is obtained.

  In the traveling device 20 according to the second embodiment, other configurations are substantially the same as those of the traveling device 10 according to the first embodiment. Therefore, the same reference numerals are assigned to the same parts, and detailed description is omitted.

  FIG. 8 is a flowchart illustrating an example of a control processing flow of the traveling device according to the second embodiment.

  First, the control device 25 determines whether or not the traveling speed of the traveling device 20 is constant (step S200). When it is determined that the moving speed is not constant (NO in step S200), the control device 25 ends this control process.

  On the other hand, when the control device 25 determines that the moving speed is constant (YES in step S200), it determines whether or not the constant moving speed continues for a predetermined time or longer (for example, about 10 minutes). Judgment is made (step S201). Thus, by determining that the constant moving speed has continued for a predetermined time or more, it is possible to more reliably determine whether or not the speed sensation of the passenger is reduced.

  When it is determined that the constant moving speed has not continued for a predetermined time or longer (NO in step S201), the control device 25 ends this control process. On the other hand, when it is determined by the control device 25 that the constant moving speed has continued for a predetermined time or longer (YES in step S201), the angle detection sensor 6 detects the operation amount and the operation direction of the operation lever 4 ( Operation detection step) (step S202). Then, the angle detection sensor 6 outputs an operation signal corresponding to the detected operation amount and operation direction of the operation lever 4 to the cycle calculation unit 22 of the control device 25.

  Next, the cycle calculation unit 22 calculates the change amount dθ / dt of the operation amount θ of the operation lever 4 based on the operation signal from the angle detection sensor 6, and calculates the operation cycle T of the operation lever 4 ( Period calculation step) (step S203). Then, the cycle calculating unit 22 outputs the calculated operation cycle T to the target moving speed calculating unit 23.

  Thereafter, the target moving speed calculation unit 23 calculates a target moving speed V corresponding to the operation cycle T based on the operation cycle T calculated by the cycle calculation unit 22 and the cycle map (target moving speed). Calculation step) (step S204). The target moving speed calculation unit 23 outputs the calculated target moving speed V to the control unit 24.

  The control unit 24 drives and controls the wheel drive units 3L and 3R via the drive circuits 9L and 9R so as to achieve the target movement speed V calculated by the target movement speed calculation unit 23 (control process) (step S205). ).

  As described above, in the traveling device 20 according to the second embodiment, the target moving speed calculation unit 23 of the control device 25 follows the operation cycle T in the operation unit 27 calculated by the cycle calculation unit 22 and the human walking cycle. Based on the period map, a target moving speed V corresponding to the operation period T is calculated. And the control part 24 drive-controls the wheel drive units 3L and 3R so that it may become the target moving speed V calculated by the target moving speed calculation part 23. FIG. As a result, the operation period T of the operation unit 27 is set as the walking period, and the traveling device 20 can be caused to travel at the moving speed V most adapted to the walking period. Therefore, the passenger can recognize the moving speed of the traveling device 20 more naturally by performing an operation adapted to the natural speed sensation. That is, the passenger can more appropriately recognize the moving speed of the traveling device 20 by his / her own operation.

  Next, a modified example of the traveling device 20 according to the second embodiment will be described in detail.

  In the second embodiment, the operation detection unit 21 may include a microphone. In this case, the period calculation unit 22 calculates the period T of the passenger's voice (for example, a, a,...) Detected by the microphone as the operation period T.

  In the second embodiment, the control unit 24 of the control device 25 always calculates the target moving speed V calculated by the target moving speed calculating unit 23 without determining that the constant moving speed continues for a predetermined time or longer. The wheel drive units 3L and 3R may be driven and controlled so that

  Although the best mode for carrying out the present invention has been described using the above-described embodiment, the present invention is not limited to the above-described embodiment, and the scope of the present invention is not deviated. Various modifications and substitutions can be added to the above embodiment.

  For example, in the first and second embodiments, the coaxial two-wheeled vehicle is applied as the traveling devices 10 and 20, but the present invention is not limited to this, and any vehicle that travels with a passenger such as a wheelchair-type moving device can be used. Applicable.

  In addition, the wheel speed sensors 7L and 7R and the movement speed calculation unit 11 in the first embodiment correspond to the movement speed detection means described in the claims.

(A) It is a front view which shows the outline of the traveling apparatus which concerns on 1st Embodiment of this invention. (B) It is a side view which shows the outline of the traveling apparatus which concerns on 1st Embodiment of this invention. It is a block diagram which shows the outline of the system configuration | structure of the traveling apparatus which concerns on 1st Embodiment of this invention. It is a figure which shows an example of the period map which shows the relationship between the moving speed V and the period T. It is a flowchart which shows an example of the control processing flow of the traveling apparatus which concerns on 1st Embodiment of this invention. (A) It is a figure which shows an example of the change state in the inclination of an operation lever. (B) It is a figure which shows an example of the change state in the moving speed V of a traveling apparatus. (C) It is a figure which shows an example of the sound which generate | occur | produces with the period T according to the moving speed V from a sound output device. (D) It is a figure which shows an example of the vibration generate | occur | produced with the period T according to the moving speed V from a vibration apparatus. (E) It is a figure which shows an example of the state which changed the moving speed with the period T according to the moving speed V. FIG. It is a figure which shows the modification of the period map which shows the relationship between the moving speed V of a traveling apparatus, and the period T. FIG. It is a block diagram which shows the outline of the system configuration | structure of the traveling apparatus which concerns on 2nd Embodiment of this invention. It is a flowchart which shows an example of the control processing flow of the traveling apparatus which concerns on 2nd Embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vehicle main body 2L, 2R Wheel 3L, 3R Wheel drive unit 4 Operation lever 5, 25 Control apparatus 6 Angle detection sensor 7L, 7R Wheel speed sensor 8 Attitude sensor unit 10, 20 Traveling apparatus 11 Moving speed calculation part 12, 22 Period calculation Unit 13 light unit 14 sound output unit 15 vibration unit 16 display unit 17 blower unit 21 operation detection unit 23 target moving speed calculation unit 24 control unit 26 operation switch 27 operation unit

Claims (6)

A travel device that includes travel speed detection means for detecting travel speed and travels with a passenger on it,
A period calculating means for calculating a period according to the moving speed based on the moving speed detected by the moving speed detecting means and a period map set in advance according to the walking period ;
A traveling apparatus comprising: a moving speed transmitting means that operates based on the period calculated by the period calculating means and transmits the moving speed to a passenger. The traveling device according to claim 1 ,
The period calculating means shortens the period as the moving speed detected by the moving speed detecting means increases. The traveling device according to claim 2 ,
The period calculating means increases the shortening rate of the period when the moving speed detected by the moving speed detecting means is equal to or higher than a first predetermined speed. The traveling device according to any one of claims 1 to 3 ,
The traveling apparatus according to claim 1, wherein the moving speed transmitting means increases the output at a period corresponding to the moving speed detected by the moving speed detecting means. The traveling device according to any one of claims 1 to 4 ,
The moving speed transmission means includes a light device that generates light, a sound output device that generates sound, a vibration device that generates vibration, a display device that displays an image, based on the cycle calculated by the cycle calculation unit, A travel device comprising at least one of a blower that generates air, a speed control unit that changes a moving speed, and a direction control unit that meanders the travel device. A traveling method that includes a traveling speed detection step of detecting a traveling speed, and travels with a passenger on the vehicle,
A cycle calculating step of calculating a cycle according to the moving speed based on the moving speed detected in the moving speed detecting step and a cycle map set in advance according to the walking cycle ;
A traveling speed transmitting step of operating based on the period calculated in the period calculating step and transmitting the traveling speed to a passenger.

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