JP6763749B2 - Mobile control system and mobile - Google Patents

Description

The present invention relates to a moving body control system that detects tilt information from a horizontal plane with respect to gravity and controls the posture of the moving body, and a moving body including the same.

Conventionally, an autonomous moving body, for example, an autonomous traveling robot or a flying body, is equipped with a moving body control system for controlling a posture. This moving body control system has a tilting sensor that obtains tilting information of the moving body. Here, the inclination information is information such as whether or not the inclination is tilted from the horizontal plane with respect to gravity (presence or absence of inclination), the inclination angle, and the time change of the inclination angle. In order for the moving body to move stably, it is required to obtain highly accurate tilt information.

In the conventional moving body control system body, a method of using an acceleration sensor or a gyro sensor to obtain tilt information is known. For example, in Patent Document 1, a moving body control system equipped with an acceleration sensor and a gyro sensor is known. Is disclosed.

In the method using the acceleration sensor, when the moving body is stationary, the angle between the gravity applied to the acceleration sensor and the internal coordinate axis of the acceleration sensor is equal to the attitude of the acceleration sensor with respect to gravity. Finding the tilt angle. Further, in the method using the gyro sensor, the inclination angle from the initial position of the moving body is obtained by integrating the rotation speed of the moving body.

Japanese Unexamined Patent Publication No. 2008-089531

However, the above-mentioned prior art has the following problems. That is, when the acceleration sensor is used to obtain the tilt information, when the moving body accelerates, the acceleration sensor gives an output in which the acceleration of the moving body and the gravitational acceleration are superimposed, and as a result, the accurate tilt angle is obtained. There was a problem that it could not be obtained. Further, in the method using the gyro sensor, since the inclination information is obtained by integrating the rotation speed of the moving body, the error is integrated as the initial time elapses, and an accurate inclination angle cannot be obtained. There was.

Further, as disclosed in Patent Document 1, in the method using the acceleration sensor and the gyro sensor, it is necessary to carefully determine the modeling for determining the weighting applied to the two types of sensor outputs, and the sensor outputs of both are originally used. Due to the above-mentioned errors, the accuracy of the obtained tilt angle was limited.

Therefore, the present invention has been made to solve the above-mentioned conventional problems, and is a moving body control system that controls the posture of a moving body based on tilt information, and is a moving body control capable of detecting accurate tilt information. It is an object of the present invention to provide a system and a moving body equipped with the system.

In order to solve the above problems, the first feature of the present invention is a tilt sensor that detects tilt information from a horizontal plane perpendicular to the gravity of the moving body, and a control unit that controls the posture of the moving body based on the tilt information. The tilt sensor is arranged so as to be movable relative to the moving body, and the pressure sensor for detecting the pressure of the fluid, the output of the pressure sensor, and the movement information of the pressure sensor are used. Based on this, it was decided to include a tilt information detection unit that detects tilt information.

According to the present invention, since the tilt information is detected based on the output of the pressure sensor and the movement information of the pressure sensor, the moving body is not affected by the inertial force even during the acceleration motion, and the tilt is accurate. Information can be obtained.

The second feature of the present invention is that the tilt sensor includes a movement mechanism that moves the pressure sensor with respect to the moving body in a predetermined movement path, and the tilt information detection unit includes the movement information of the pressure sensor and the pressure sensor. It is to detect the tilt information of the moving body based on the output of.

According to the present invention, the movement path is stable and constant every time, and accurate inclination information can be obtained by using the movement distance.

A third feature of the present invention is that the moving mechanism includes a rotating body on which the pressure sensor is arranged, and the pressure sensor is moved in a circular shape by rotating the rotating body.

According to the present invention, accurate height displacement can be detected by stable movement, and accurate inclination information can be obtained.

Further, a fourth feature of the present invention is that the moving mechanism includes a linear moving body in which a pressure sensor is arranged and can move linearly, and the pressure sensor is linearly moved by moving the linear moving body linearly. That is.

According to the present invention, it is possible to accurately obtain tilt information in a predetermined direction along the straight line.

A fifth feature of the present invention is that the tilt information detection unit detects tilt information based on the moving distance of the pressure sensor and the change in the output value of the pressure sensor with respect to the moving distance.

According to the present invention, tilt information can be accurately obtained by calculation based on an accurate movement distance.

A sixth feature of the present invention is that the control unit is provided outside the moving body, receives the tilt information detected by the tilt sensor, and uses the tilt information to base the moving body. It is to control the posture.

According to the present invention, by providing the control unit outside the moving body, the configuration of the moving body can be further simplified, and the moving body can be miniaturized and power can be saved.

Further, the seventh feature of the present invention is that the moving body is a vehicle and the inclination information is information on the posture of the vehicle with respect to the horizontal plane. Further, the eighth feature of the present invention is that the moving body is an autonomous driving type vehicle, and the inclination information is information on the posture of the vehicle with respect to the horizontal plane.

According to the present invention, accurate posture information can be obtained even if the moving body is tilted due to various factors such as unevenness and tilt on the ground.

Further, the ninth feature of the present invention is that the moving body is a flying object and the inclination information is information on the attitude of the flying object with respect to the horizontal plane. Further, the tenth feature of the present invention is that the moving body is an autonomous flight type flying object, and the inclination information is information on the attitude of the flying object with respect to the horizontal plane.

According to the present invention, accurate attitude information can be obtained even if the moving body is tilted due to a disturbance such as wind in the air.

Further, the eleventh feature of the present invention is that the moving body is a robot that cares for a patient, and the inclination information is information about the posture of at least a part of the robot with respect to the horizontal plane. Further, the twelfth feature of the present invention is that the moving body has the above-mentioned moving body control system, and the posture can be controlled by the moving body control system.

According to the present invention, accurate posture information can be obtained even if the moving body is tilted due to the weight or body movement of the patient. Further, it is possible to provide a moving body whose posture can be controlled accurately and accurately.

As described above, according to the present invention, there is provided a moving body control system that controls the posture of a moving body based on tilt information, a moving body control system capable of detecting accurate tilt information, and a moving body including the same. It becomes possible to do.

It is a schematic diagram of the moving body 1 which concerns on 1st Embodiment of this invention. It is a block diagram of the tilt sensor 6 in the 1st Embodiment of this invention. It is a figure explaining an example of the output signal in the horizontal state of the pressure sensor 11 in the 1st Embodiment of this invention. It is a figure explaining an example of the output signal when the pressure sensor 11 is tilted in the Y-axis direction in the 1st Embodiment of this invention. It is a figure explaining an example of the output signal at the time of inclination of the pressure sensor 11 in the 1st Embodiment of this invention. It is a schematic diagram of the moving body 51 which concerns on 2nd Embodiment of this invention. It is a block diagram of the moving body 51 which concerns on 2nd Embodiment of this invention. It is a schematic diagram of the moving body 91 which concerns on 3rd Embodiment of this invention. It is a block diagram of the moving body 91 which concerns on 3rd Embodiment of this invention. It is a block diagram of the 1st tilt sensor 100 and the 2nd tilt sensor 101 in the 3rd Embodiment of this invention. It is a block diagram of the 1st tilt sensor 300 and the 2nd tilt sensor 301 in the 4th Embodiment of this invention.

Hereinafter, the moving body control system and the embodiment of the moving body according to the present invention will be described with reference to the drawings. The moving body control system according to the present invention controls the posture of the moving body accurately and accurately based on the tilt information of the moving body detected by the tilt sensor. The "posture" includes not only the posture of the entire moving body but also the posture of a part of the moving body.

(First Embodiment)
<Overall configuration>
FIG. 1 is a schematic view of the moving body 1 according to the first embodiment. The moving body 1 is an autonomous traveling machine (vehicle) that travels on the floor or the ground. The moving body 1 is composed of an upper housing 2, a central housing 3, and a lower housing 4. A camera 5 is provided in the upper housing 2. The central housing 3 is provided with an inclination sensor 6, a control unit 7, and a storage unit 8. The lower housing 4 is provided with a motor 9 and a motor control unit 10. As described above, the moving body control system according to the present embodiment is incorporated inside the moving body 1.

The posture of the moving body 1 may be tilted due to the inclination of the floor or obstacles during traveling, whereas the control unit 7 that controls the moving body control system always keeps the posture of the moving body 1. It grasps and issues a command to the motor control unit 10, and controls so that the posture of the entire moving body 1 is maintained by the operation of the motor 9. The tilt information such as the tilt angle of the moving body 1 is generated by the tilt sensor 6 and transmitted to the control unit 7. Here, the direction opposite to gravity is defined as the Z direction, the front direction of the moving body 1 is defined as the Y direction, and the left direction of the moving body 1 is defined as the X direction, and the tilt information is the tilt information with respect to the horizontal plane perpendicular to gravity. ..

FIG. 2 is a block diagram of the tilt sensor 6. The tilt sensor 6 slips with a moving mechanism 20 fixed to the central housing 3, a pressure sensor 11, a magnet 31, a rotation detection unit 32, a synchronous clock signal generation unit 33, a power supply unit 34, and so on. It includes a ring 35 and an inclination information detection unit 40. Further, the moving mechanism 20 includes a rotating plate 21 (an example of a rotating body), an inclination sensor motor control unit 22, and an inclination sensor motor 23.

The moving mechanism 20 moves the pressure sensor 11 in a circular shape by rotating the rotating plate 21. The rotating plate 21 is rotated around the rotating shaft C1 by the tilt sensor motor 23. The pressure sensor 11 detects the pressure of a fluid such as air or liquid, for example.

The pressure sensor 11 includes, for example, a differential pressure sensor (relative sensor) whose resistance value changes due to physical deformation due to pressure, a Wheatstone bridge circuit in which the differential pressure sensor is a part of resistance, and an output amplifier. The pressure (for example, pressure) is detected based on the resistance change of the differential pressure sensor due to the pressure. The XYZ Cartesian coordinate system has the same definition as in FIG. 1, and the direction opposite to gravity is the Z direction. Assuming that the moving body 1 is upright as a reference state, the rotating plate 21 rotates at a predetermined rotation speed on a horizontal plane (XY plane) orthogonal to gravity.

The magnet 31 is arranged near the circumference of the rotating plate 21, and is used for detecting the rotational position of the pressure sensor 11 (or the rotating plate 21). The rotation detection unit 32 (an example of the movement information detection unit) detects the movement information of the pressure sensor 11. The movement information of the pressure sensor 11 is, for example, information such as the movement position (rotation position), movement amount, speed, direction, and phase of the pressure sensor 11, or a combination thereof, and here, as an example, Information indicating the rotation position of the pressure sensor 11 (rotation position information) will be described as movement information of the pressure sensor 11. The rotation detection unit 32 is, for example, a magnetic detection element such as a Hall element, and when the magnet 31 arranged on the rotation plate 21 approaches, the rotation detection unit 32 detects the reference position of the rotation plate 21 and outputs a detection signal.

The synchronous clock signal generation unit 33 (an example of the reference signal generation unit) generates a synchronous clock signal (reference signal) corresponding to the inclination in a predetermined direction based on the movement information detected by the rotation detection unit 32. That is, the synchronous clock signal generation unit 33 generates, for example, a synchronous clock signal that synchronously detects the inclination in the Y-axis direction based on the detection signal output from the rotation detection unit 32 according to the reference position of the rotation plate 21. ..

Specifically, the synchronous clock signal generation unit 33 uses the detection signal output from the rotation detection unit 32 as a trigger to generate a clock signal having the same period as the rotation period of the rotating plate 21. Then, the synchronous clock signal generation unit 33 delays the generated clock signal so as to synchronously detect the inclination in the Y-axis direction, and outputs the generated clock signal as a synchronous clock signal to the inclination information detection unit 40.

The power supply unit 34 generates a power supply voltage for operating the tilt sensor 6, and supplies the generated power supply voltage to each unit. Further, the power supply unit 34 supplies a power supply voltage (power supply power) to the pressure sensor 11 on the rotating plate 21 via the slip ring 35.

The slip ring 35 supplies the power supply voltage (power supply power) generated by the power supply unit 34 to the pressure sensor 11 on the rotating rotating plate 21, and also outputs the output signal output from the pressure sensor 11 to the inclination information detection unit. It is a signal transmission means to transmit to 40. By using the slip ring 35, the tilt sensor 6 can appropriately transmit the output signal of the pressure sensor 11 arranged on the rotating rotating plate 21 to the tilt information detection unit 40.

The tilt information detection unit 40 is a signal processing unit that detects tilt information of the moving body 1 based on the output of the pressure sensor 11 and the movement information of the pressure sensor 11. That is, the tilt information detection unit 40 detects the tilt information of the moving body 1 based on the movement information of the pressure sensor 11 moved along the predetermined movement path by the moving mechanism 20 and the output of the pressure sensor 11.

Here, the inclination information includes, for example, information indicating an inclination angle, horizontality, presence / absence of inclination, time change of inclination angle, or a combination thereof. In the present embodiment, as an example, an example in which the inclination information detection unit 40 detects the inclination angle of the moving body 1 will be described.

Further, the inclination information detection unit 40 detects the inclination information of the moving body 1 based on, for example, the moving distance of the pressure sensor 11 and the change of the output value of the pressure sensor 11 with respect to the moving distance.

Here, the principle of detecting the tilt angle by the tilt information detection unit 40 will be described with reference to FIGS. 3, 4, and 5.

<Inclination angle detection principle>
FIG. 3 is a diagram illustrating an example of the output of the tilt sensor 6 in the present embodiment when the moving body 1 is horizontal. In FIG. 3A, the tilt sensor 6 is attached to the central housing 3 of the moving body 1 and shows a state when the moving body 1 is horizontal. FIG. 3B shows the output signal of the pressure sensor 11 when the moving body 1 is horizontal. In FIG. 3B, the vertical axis of the graph shows the voltage of the output signal of the pressure sensor 11, and the horizontal axis of the graph shows the time. Further, the waveform W1 shows the waveform of the output signal of the pressure sensor 11.

As shown in FIG. 3A, when the moving body 1 is in the horizontal state, the pressure sensor 11 that moves in a circular shape together with the rotating plate 21 moves horizontally, so that the waveform W1 in FIG. 3B is displayed. As shown, it outputs a constant voltage.

FIG. 4 is a diagram illustrating an example of the output of the tilt sensor 6 in the present embodiment when the moving body 1 is tilted in the Y-axis direction. FIG. 4A shows a state in which the tilt sensor 6 is attached to the central housing 3 of the moving body 1 and the moving body 1 is tilted by the tilt angle θ in the Y-axis direction. .. FIG. 4B shows an output signal of the pressure sensor 11 when the moving body 1 is tilted. In FIG. 4B, the vertical axis represents the voltage of the output signal of the pressure sensor 11, and the horizontal axis represents the time. Further, the waveform W2 shows the waveform of the output signal of the pressure sensor 11.

As shown in FIG. 4A, when the moving body 1 is tilted by the tilt angle θ in the Y-axis direction, the pressure sensor 11 that moves in a circular shape together with the rotating plate 21 is displaced in the Z-axis direction. , As shown in the waveform W2 of FIG. 4B, a periodic output signal is output. In this case, the pressure sensor 11 detects the change in atmospheric pressure due to the displacement (change in height) in the Z-axis direction, and outputs a sinusoidal output signal such as the waveform W2. Assuming that the amount of change between the peaks of the output signal (waveform W2) is the amount of change ΔV0, the larger the inclination angle θ, the larger the amount of change ΔV0, and the smaller the inclination angle θ, the smaller the amount of change ΔV0. Further, the inclination angle θ can be calculated by the following equation (1).

Here, the variable Rs indicates the radius of gyration of the pressure sensor 11 as shown in FIG. 4A. Further, the change in height corresponding to the amount of change ΔV0 is obtained by converting the amount of change ΔV0 in the output signal of the pressure sensor 11 into a change in height in the Z-axis direction. The inclination information detection unit 40 may, for example, convert the change in height from the amount of change ΔV0 by calculation, or change the amount of change ΔV0 based on the conversion table in which the amount of change ΔV0 and the change in height are associated with each other. Corresponding height changes may be generated. Further, the inclination information detection unit 40 uses the equation (1) to generate an inclination angle θ as inclination information.

Returning to the description of FIG. The tilt information detection unit 40 executes synchronous detection based on the synchronous clock signal generated by the synchronous clock signal generation unit 33 and the periodic output signal output from the pressure sensor 11, and is based on the result of the synchronous detection. The tilt information of the detection target (moving body 1) in a predetermined direction is detected. The synchronous detection unit 41 executes synchronous detection based on the periodic output signal of the pressure sensor 11 described above and the synchronous clock signal generated by the synchronous clock signal generation unit 33. The synchronous detection unit 41 includes, for example, a lock-in amplifier circuit and a low-pass filter (LPF), and generates a DC signal proportional to the amplitude of the output signal of the pressure sensor 11.

The tilt angle generation unit 42 generates a tilt angle θ as tilt information using the above equation (1) based on a DC signal proportional to the amplitude of the output signal of the pressure sensor 11 generated by the synchronous detection unit 41. To do.

Up to this point, the case where the moving body 1 is tilted along the Y axis has been described, but when the moving body 1 is also tilted along the X axis at the same time, the tilt angle can be calculated by the same configuration. FIG. 5 is a diagram illustrating an example of the output of the tilt sensor 6 in the present embodiment when the moving body 1 is tilted in both the X-axis direction and the Y-axis direction at the same time.

FIG. 5A shows a cross-sectional view seen from a direction orthogonal to the tilting direction when the moving body 1 is tilted simultaneously in both the X-axis direction and the Y-axis direction. FIG. 5B shows the output signal of the pressure sensor 11 at this time. Since the pressure sensor 11 moves in a circular shape together with the rotating plate 21 and is displaced in the Z-axis direction, it outputs a periodic sinusoidal output signal as shown in the waveform W3 of FIG. 5 (b). Assuming that the amount of change between the peaks of the output waveform W3 is the amount of change ΔV1, the larger the inclination angle φ, the larger the amount of change ΔV1, and the smaller the inclination angle φ, the smaller the amount of change ΔV1.

The difference from the output signal when tilted only in the Y-axis direction shown in FIG. 4B is the time (phase) that gives the maximum and minimum in the Z-axis direction. This phase shift ΔPH is 0 when the inclination direction of the moving body 1 coincides with the Y axis, and π? When it coincides with the X axis. It becomes 2, and when it has both X-axis and Y-axis components, it takes a value between them. The peak of the output waveform W3 can be detected, and the inclination direction can be obtained from the phase shift ΔPH. In this way, the tilt direction and the tilt angle φ can be detected even when the moving body 1 is tilted in both the X-axis direction and the Y-axis direction at the same time.

As described above, the moving body control system according to the present embodiment includes the tilt sensor 6. The tilt sensor 6 includes a pressure sensor 11 and a tilt information detection unit 40. The pressure sensor 11 is arranged so as to be movable relative to the moving body 1, and detects the pressure of a fluid (for example, gas, liquid, etc.). The tilt information detection unit 40 detects tilt information (for example, information indicating the tilt angle θ) of the moving body 1 based on the output of the pressure sensor 11 and the movement information (for example, rotation position information) of the pressure sensor 11. To do.

As a result, the tilt sensor 6 according to the present embodiment detects the tilt information using the pressure sensor 11, and is not affected by the acceleration of the moving body 1. For example, since the tilt sensor 6 according to the present embodiment is not affected by the acceleration in the horizontal direction, accurate tilt information can be acquired even while the moving body 1 is accelerating, and the attitude control based on the information can be performed. It is possible.

Further, the tilt sensor 6 according to the present embodiment can detect the tilt information by moving the pressure sensor 11 along a predetermined movement path, and can detect the tilt information by one pressure sensor 11. Therefore, the tilt sensor 6 according to the present embodiment can improve the detection accuracy of the tilt information, and the moving body control system can control the attitude based on the more accurate tilt information.

By the way, when an acceleration sensor is used for detecting the inclination information, it is necessary to integrate twice in order to convert the change in acceleration into the change in distance. In addition, when detecting the angular velocity from the centrifugal force based on the output of the acceleration sensor, or when detecting the angular velocity by the gyro sensor (angular velocity sensor), it is necessary to integrate once in order to calculate the angle from the angular velocity. .. As described above, when the acceleration sensor or the gyro sensor is used, it is necessary to integrate the output value of the sensor. Therefore, an error is accumulated by the integration, and the detection accuracy of the tilt information tends to decrease.

On the other hand, in the moving body control system according to the present embodiment, since the tilt sensor 6 used for acquiring the tilt information uses the pressure sensor 11, it is not necessary to integrate the output value. Therefore, the integration as described above does not accumulate errors, and the detection accuracy of the inclination information can be improved. Further, the tilt sensor 6 according to the present embodiment can detect the tilt angle θ by a simple calculation process using the above equation (1).

Based on the inclination angle θ thus obtained, the control unit 7 performs calculation or judgment processing, and issues an appropriate command to the motor control unit 10, so that the moving body control system can perform the posture of the moving body 1. Can be maintained. From the above, according to the moving body control system according to the present embodiment, the tilt information of the moving body 1 is accurately detected, and the posture of the moving body 1 is controlled based on the tilt information. Therefore, the moving body 1 can be controlled. It is possible to control with high accuracy and accuracy.

(Second Embodiment)
<Overall configuration>
FIG. 6 shows a schematic view of the moving body 51 according to the second embodiment of the present invention. The moving body 51 is an autonomous flight type device (flying body) that flies in the air. The moving body 51 includes a central housing 52, an arm 53 extending in four directions from the central housing 52, a propeller control unit 54 fixed to the tip of the arm 53, and an upward direction from the propeller control unit 54. An extended propeller shaft 55, a propeller 56 fixed to the tip of the propeller shaft 55, a shaft 57 extending downward from the central housing 52, a camera unit 58 fixed to the tip of the shaft 57, and a central portion. A leg portion 59 extending downward from the contour of the lower portion of the housing 52 is provided. A control unit 60 is provided inside the central housing 52. The camera unit 58 is provided with a camera 82 inside. As described above, the moving body control system according to the present embodiment is incorporated inside the moving body 51.

FIG. 7 shows a block diagram of the moving body 51 according to the present embodiment. The same reference numerals are given to the same parts as those in FIG. The control unit 60 is provided with a control unit 61, a communication unit 62, a power supply unit 63, a storage unit 64, a GPS 65, an inclination sensor 66, an obstacle sensor 67, a temperature sensor 68, and a barometric pressure sensor 69. The propeller control unit 54 is provided with a propeller motor 71 and a propeller motor control unit 72. The camera unit 58 is provided with a camera control unit 81 and a camera 82.

<Overall operation>
The operation of the moving body 51 will be described with reference to FIGS. 6 and 7. The moving body 51 flies in the air by the lift accompanying the rotation of the four propellers 56, and the camera 82 takes a picture of the object to be photographed below. The propeller 56 is rotated by the propeller motor 71 driven by the propeller motor control unit 72. The camera 82 is controlled by the camera control unit 81.

The propeller motor control unit 72 and the camera control unit 81 are controlled by a control signal from the control unit 61. The control unit 61 that controls the moving body control system determines the state such as the posture and speed of the moving body 51 based on the information from various sensors such as GPS65, tilt sensor 66, obstacle sensor 67, temperature sensor 68, and pressure sensor 69. It grasps and judges, and transmits a control signal to the propeller motor control unit 72 and the camera control unit 81.

Further, the control unit 61 stores the information from the various sensors and the captured image or video transmitted from the camera control unit 81 in the storage unit 64. Further, the control unit 61 can also receive a wireless instruction from an operator (not shown) located at another location such as the ground via the communication unit 62 and perform overall control according to the instruction.

<Structure of tilt sensor>
Since the tilt sensor 66 is the same as the tilt sensor 6 used in the first embodiment, the description of the same portion of the configuration and operation as in the first embodiment will be omitted. In the present embodiment, the tilt information of the moving body 51 output by the tilt sensor 66 is corrected by using the temperature information and the atmospheric pressure information.

The pressure sensor 11 provided inside the tilt sensor 66 converts the pressure fluctuation into an electric resistance change, and further outputs it as a voltage change. Since this electrical resistance has temperature dependence, the electrical resistance changes when the temperature changes, and it becomes noise with respect to the detected value of the pressure fluctuation.

In the present embodiment, the temperature dependence table in which the temperature dependence of the electric resistance is measured in advance is stored in the storage unit 64, and the control unit 61 that receives the output signal from the tilt sensor 66 receives it from the temperature sensor 68. The inclination information can be corrected by referring to the temperature information and the temperature dependence table.

Further, since the value obtained by converting the voltage change from the tilt sensor 66 into the height change depends on the ambient air pressure, the change in altitude and weather gives noise to the height change calculated value, and the resulting tilt information Also contains noise.

On the other hand, in the present embodiment, the atmospheric pressure dependence of the relationship between the pressure change and the height change is stored in the storage unit 64 in advance as an atmospheric pressure dependence table, and the control unit 61 receives the output signal from the tilt sensor 66. Can correct the inclination information by referring to the atmospheric pressure information received from the atmospheric pressure sensor 69 and the atmospheric pressure dependence table.

As described above, according to the moving body control system according to the present embodiment, the inclinations in the X and Y directions are accurately acquired even during the acceleration motion in the air, and the moving body 51 is accurately controlled in attitude. To enable. Therefore, according to the moving body control system according to the present embodiment, the tilt information of the moving body 51 is accurately detected, and the posture of the moving body 51 is controlled based on the tilt information, so that the control of the moving body 51 is high. It becomes possible to control accurately and accurately.

(Third Embodiment)
<Overall configuration>
FIG. 8 shows a schematic view of the moving body 91 according to the third embodiment of the present invention. The mobile body 91 is a nursing care robot that supports the care of patient PTs and users at medical institutions and medical facilities. The moving body 91 is provided with a head portion 92, a body portion 93, a leg portion 94, a shaft 95, and an arm 96. A camera 97 is provided inside the head 92. A control unit 98 is provided inside the body portion 93. The shaft 95 connects and supports the body portion 93 and the leg portion 94. A plurality of wheels 99 are provided on the leg portion 94. The arm 96 is divided into two parts, a first arm portion 96b near the body portion 93 and a second arm portion 96c far away by the joint 96a on the way. As described above, the moving body control system according to the present embodiment is incorporated inside the moving body 91.

FIG. 9 shows a block diagram of the moving body 91 according to the third embodiment of the present invention. The control unit 98 that controls the mobile control system is provided with a control unit 111, a communication unit 112, a power supply unit 113, and a storage unit 114 inside. The arm 96 is provided with a first tilt sensor 100 and a first actuator 121 on the first arm portion 96b, and a second tilt sensor 101 and a second actuator 122 on the second arm portion 96c. Further, the arm 96 is provided with a tactile sensor 123 at its tip and a contact surface with the patient PT.

<Overall operation>
The operation of the moving body 91 will be described with reference to FIGS. 8 and 9. The control unit 111 transmits an instruction signal regarding shooting to the camera control unit 142. The camera control unit 142 controls the camera 141 based on the signal to take an image of the object. The captured image is transmitted to the control unit 111.

Various sensors such as the first tilt sensor 100, the second tilt sensor 101, and the tactile sensor 123 provide information on the tilt of the first arm portion 96b, the tilt of the second arm portion 96c, and the contact between the arm 96 and an external object, respectively. It is transmitted to the control unit 111. These information are transmitted from the control unit 11 to the storage unit 114 and stored as needed.

The control unit 111 determines the status of the moving body 91 based on this information. The instruction from the operator (not shown) is wirelessly sent to the communication unit 112, and the control unit 111 receives the instruction from the communication unit 112. The electric power required for these parts is supplied from the power supply unit 113. Based on this information, the control unit 111 confirms that the patient PT is in contact with the predetermined position of the arm 96, and transmits an instruction signal to the leg control unit 131 to rotate the wheel 99 as necessary. By moving on the floor. Further, an instruction signal is transmitted to the first actuator 121 and the second actuator 122 to adjust the inclination of the first arm portion 96b and the second arm portion 96c.

When it is determined that the patient PT has achieved a predetermined posture, the control unit 111 transmits a signal instructing the leg control unit 131 to move, and the moving body 91 moves on the floor to the predetermined position. .. After that, an instruction signal is transmitted to the first actuator 121 and the second actuator 122 to change the inclination of the first arm portion 96b and the second arm portion 96c to carry the patient PT to a predetermined position such as on the bed. During these operations, the camera 141 continues to capture the situation, and the image is analyzed by the control unit 111 to confirm that it is taking a predefined action.

<Structure of tilt sensor>
FIG. 10 is a block diagram of the first tilt sensor 100 and the second tilt sensor 101 of FIG. In the present embodiment, the first tilt sensor 100 and the second tilt sensor 101 have the same configuration. As shown in FIG. 10, the first tilt sensor 100 and the second tilt sensor 101 include a pressure sensor 190, a moving mechanism 200b, a magnet 211, a position detection unit 212b, a synchronous clock signal generation unit 213, and a power supply unit. It includes 214, a flexible substrate 215a, and an inclination information detection unit 220.

The present embodiment is different from the first and second embodiments in that the movement of the pressure sensor 190 is a linear movement in which the pressure sensor 190 is reciprocated in a straight line instead of the circular movement.

The Y-axis shown in FIG. 10 is the longitudinal direction of the arm 96, the Z-axis is the gravity direction, and the X-axis is the left-right direction of the moving body 91 (perpendicular to the paper surface of FIG. 8). In the present embodiment, since the inclination information along the Y-axis direction is most important for the inclination of the first arm portion 96b and the second arm portion 96c, both the first inclination sensor 100 and the second inclination sensor 101 have the Y axis. It is designed to acquire tilt information along the direction.

The moving mechanism 200b includes a moving plate 205 (linear moving body) in which the pressure sensor 190 is arranged and can move linearly, and moves the pressure sensor 190 linearly by moving the moving plate 205 linearly. That is, the moving mechanism 200b enables linear movement in which the pressure sensor 190 is linearly reciprocated.

Further, the moving mechanism 200b includes, for example, a linear tracking mechanism 230, a motor control unit 202, and a motor 203. The linear tracking mechanism 230 includes a rotating plate 201, a crankshaft 204, a moving plate 205, and a rail 206, and converts the rotational movement of the rotating plate 201 into a linear movement along the Y-axis direction of the moving plate 205. ..

A pressure sensor 190 and a magnet 211 are arranged on the moving plate 205, and the rotating plate 201 is rotated by the motor 203 so as to be linear on the rail 206 in the Y-axis direction in the horizontal direction via the crankshaft 204. Moving. The motor control unit 202 rotates the rotating plate 201 at a predetermined rotation speed and controls the pressure sensor 190 so as to move linearly as described above. The position detection unit 212b detects the movement information of the pressure sensor 190. The position detection unit 212b is, for example, a magnetic detection element such as a Hall element, and when the magnets 211 arranged on the moving plate 205 approach each other, the reference position of the moving plate 205 is detected and the detection signal is generated as a synchronous clock signal. Output to unit 213.

In the first tilt sensor 100 and the second tilt sensor 101 according to the present embodiment, the pressure sensor 190 is linearly moved by the moving mechanism 200b, so that the pressure sensor 190 periodically moves according to the tilt of the detection object. Output signal. Further, the synchronous clock signal generation unit 213 generates a synchronous clock signal for detecting the inclination in the Y-axis direction based on the information indicating the position of the moving plate 205 detected by the position detection unit 212b. In the tilt information detection unit 220, the synchronous detection unit 221 executes synchronous detection based on the periodic output signal output by the pressure sensor 190 via the flexible substrate 215a and the synchronous clock signal, and the tilt angle generation unit 222. Detects the tilt angle based on the result of the synchronous detection.

In the present embodiment, correction is not performed by temperature or atmospheric pressure when detecting the inclination angle, but it is easy to perform these corrections by using the same configuration as in the second embodiment. In particular, since the temperature of the portion in contact with the patient PT rises due to the body temperature of the patient PT, it is effective to perform temperature correction to detect an accurate inclination angle.

When the first tilt sensor 100 and the second tilt sensor 101 having such a configuration are used, accurate tilt information can be obtained without being affected by the inertial force even while the moving body 91 is accelerating, which is safe. Can assist the patient PT.

From the above, according to the moving body control system according to the present embodiment, the tilt information of the moving body 91 is accurately detected, and the posture of the moving body 91 is controlled based on the tilt information. Therefore, the moving body 91 can be controlled. It is possible to control with high accuracy and accuracy.

(Fourth Embodiment)
The overall configuration of the present embodiment is the same as that of the third embodiment, and the first tilt sensor 300 and the second tilt sensor 301 are replaced with the first tilt sensor 100 and the second tilt sensor 101 in the third embodiment, respectively. Therefore, only these tilt sensors 300 (301) will be described.

FIG. 11 is a block diagram showing an example of the tilt sensor 300 (301) according to the fourth embodiment. As shown in FIG. 11, the inclination sensor 300 includes a pressure sensor 190, a moving plate 205, a rail 206, a magnet 211, and a position detection unit (212b-1, 212b-2, ..., 212b-N). The power supply unit 214, the flexible substrate 215a, and the tilt information detection unit 320 are provided. In FIG. 11, the same components as those shown in FIG. 10 are designated by the same reference numerals, and the description thereof will be omitted.

In the present embodiment, another example of the case where the tilt information is detected based on the output of the pressure sensor 190 at the two points where the linear movement is performed will be described. In the present embodiment, the linear tracking mechanism 330 is provided with a moving plate 205 and a rail 206 that are not connected to the motor 203 or the like without the moving mechanism 200b, and the pressure sensor 190 is linearly moved by an external force, acceleration, or the like. It is different from the third embodiment.

In the present embodiment, the moving plate 205 includes a pressure sensor 190 and a magnet 211, and is configured to be able to freely move linearly on the rail 206 (linear tracking). The moving plate 205 moves on the rail 206 due to, for example, an external force applied to the object to be detected (for example, an acceleration component in the measurement axis direction (X-axis direction)) or a human force.

The position detection unit (212b-1, 212b-2, ..., 212b-N) has the same configuration as the position detection unit 212b, and when the magnets 211 arranged on the moving plate 205 approach each other, the moving plate The moving position of 205 is detected, and the detection signal is output to the tilt information detection unit 320. In the present embodiment, the position detection unit (212b-1, 212b-2, ..., 212b-N) is a position when indicating an arbitrary position detection unit included in the tilt sensor 300, or when not particularly distinguished. This will be described as the detection unit 212b. It is assumed that the positional relationship of the position detection units (212b-1, 212b-2, ..., 212b-N) is predetermined. For example, the position detection units (212b-1, 212b-2, ..., 212b-N) are arranged at predetermined position intervals, and the position detection units (212b-1, 212b-2, ..., 212b-) are arranged at predetermined position intervals. From the output of N), the moving distance of the pressure sensor 190 can be detected.

The tilt information detection unit 320 detects tilt information of the object to be detected based on the moving distance of the pressure sensor 190 and the change in the output value of the pressure sensor 190 with respect to the moving distance. The inclination information detection unit 320 detects, for example, based on the movement distance ΔD obtained by two outputs of the plurality of position detection units 212b described above and the change in the output value of the pressure sensor 190 with respect to the movement distance ΔD. Detects the tilt angle of an object in the X-axis direction. Further, the tilt information detection unit 320 includes a tilt angle generation unit 222.

The tilt angle generation unit 222 is the output value of the pressure sensor 190 at the first position where the detection signal is output by two of the position detection units (212b-1, 212b-2, ..., 212b-N). (Voltage V1) and the output value (voltage V2) of the pressure sensor 190 at the second position are acquired. The tilt angle generation unit 222 calculates the amount of change ΔVo (= V2-V1) between the output value at the first position and the output value at the second position. Then, the inclination angle generation unit 222 calculates the inclination angle θ based on the movement distance ΔD and the change amount ΔVo by using the above equation (1). In the present embodiment, in the formula (1), the above-mentioned moving distance ΔD is used instead of the moving distance (2 × Rs).

When the detection signals for detecting the magnets 211 are output from the three or more position detection units 212b within a predetermined period, the tilt angle generation unit 222, for example, of the three or more position detection units 212b. Two of them, which are the farthest from each other, may be selected, and the distance between the two position detection units 212b may be set as the movement distance ΔD. In this case, the inclination angle generation unit 222 has, for example, the amount of change ΔVo at the positions of the two position detection units 212b that detected the magnet 211 at the farthest distance, and the distance (movement distance ΔD) between the two position detection units 212b. The inclination angle θ is calculated based on the above.

As described above, the tilt sensor 300 according to the present embodiment is provided with the moving plate 205 and the rail 206 without the moving mechanism 200b as in the third embodiment, and the pressure sensor 190 is provided by external force, acceleration, or the like. Move in a straight line. Then, the inclination information detection unit 320 detects an object to be detected based on the moving distance of the pressure sensor 190 (for example, the moving distance ΔD) and the change in the output value of the pressure sensor 190 with respect to the moving distance (for example, the amount of change ΔVo). The inclination information (for example, the inclination angle θ) is detected. As a result, the tilt sensor 300 according to the present embodiment can detect tilt information with a simpler configuration than when the above-mentioned synchronous detection is used.

(Other embodiments)
In the first to fourth embodiments described above, the configuration in which the tilt sensor has one pressure sensor has been described, but the number of pressure sensors is not limited to this. The tilt sensor may have a plurality of pressure sensors, and each of these pressure sensors may be configured to be movable with respect to a moving body.

Further, in the first to fourth embodiments described above, the mode in which the control unit (control means) that calculates the inclination information and controls the posture of the moving body is provided integrally with the moving body has been described. The present invention is not limited to this. For example, the posture of the moving body may be controlled by the external control unit by providing the control unit outside the moving body so that the output from the tilt sensor provided on the moving body can be received.

Further, by connecting the moving body and the control unit on the network in this way, it is possible to control the postures of the plurality of moving bodies by an external control unit. The external control unit may be provided in an external electronic device, a PC, a smartphone, or other wearable device.

That is, the moving body control system according to the above embodiment includes a tilt sensor that detects tilt information from a horizontal plane perpendicular to the gravity of the moving body, and a control unit that controls the posture of the moving body based on the tilt information. It is a moving body control system having
The tilt sensor is arranged so as to be movable relative to the moving body, and the tilt information is based on the pressure sensor that detects the pressure of the fluid, the output of the pressure sensor, and the movement information of the pressure sensor. It is characterized by including an inclination information detection unit for detecting the above.

Further, in the moving body control system according to the above embodiment, the tilt sensor includes a moving mechanism for moving the pressure sensor with respect to the moving body in a predetermined moving path, and the tilt information detecting unit uses the pressure. It is characterized in that the inclination information of the moving body is detected based on the movement information of the sensor and the output of the pressure sensor.

Further, in the moving body control system according to the above embodiment, the moving body includes a rotating body on which the pressure sensor is arranged, and the pressure sensor is moved in a circular shape by rotating the rotating body. It is a feature.

Further, in the moving body control system according to the above embodiment, the moving body includes a linear moving body in which the pressure sensor is arranged and can move linearly, and the linear moving body is moved linearly. The pressure sensor is linearly moved.

Further, in the moving body control system according to the above embodiment, the tilt information detecting unit obtains the tilt information based on the moving distance of the pressure sensor and the change in the output value of the pressure sensor with respect to the moving distance. It is characterized by detecting.

Further, in the moving body control system according to the above embodiment, the control unit is provided outside the moving body, receives the tilt information detected by the tilt sensor, and is based on the tilt information. It is characterized in that the posture of the moving body is controlled.

Further, the moving body control system according to the above embodiment is characterized in that the moving body is a vehicle and the inclination information is information regarding the posture of the vehicle with respect to the horizontal plane.

Further, the moving body control system according to the above embodiment is characterized in that the moving body is an autonomous driving type vehicle and the inclination information is information on the posture of the vehicle with respect to the horizontal plane.

Further, the moving body control system according to the above embodiment is characterized in that the moving body is a flying body and the inclination information is information regarding the posture of the flying body with respect to the horizontal plane.

Further, the moving body control system according to the above embodiment is characterized in that the moving body is an autonomous flight type flying object, and the inclination information is information regarding the attitude of the flying object with respect to the horizontal plane.

Further, the moving body control system according to the above embodiment is characterized in that the moving body is a robot that cares for a patient, and the inclination information is information about at least a part of the posture of the robot with respect to the horizontal plane. ..

Further, the moving body according to the above embodiment has the above-mentioned moving body control system, and is characterized in that the posture can be controlled by the moving body control system.

1 Moving body 2 Upper housing 3 Central housing 4 Lower housing 5 Camera 6 Tilt sensor 7 Control unit 8 Storage unit 9 Motor 10 Motor control unit 20 Moving mechanism 21 Rotating plate 22 Tilt sensor Motor control unit 23 Tilt sensor motor 31 Magnet 32 Rotation detection unit 33 Synchronous clock signal generation unit 34 Power supply unit 35 Slip ring 40 Tilt information detection unit 41 Synchronous detection unit 42 Tilt angle generation unit 51 Moving body 52 Central housing 53 Arm 54 Propeller control unit 55 Propeller shaft 56 Propeller 57 Shaft 58 Camera unit 59 Leg 60 Control unit 61 Control unit 62 Communication unit 63 Power supply unit 64 Storage unit 65 GPS
66 Tilt sensor 67 Obstacle sensor 68 Temperature sensor 69 Pressure sensor 71 Propeller motor 72 Propeller control unit 81 Camera control unit 82 Camera 91 Moving body 92 Head 93 Body part 94 Leg part 95 Shaft 96 Arm 96a Joint 96b First arm part 96c 2nd arm 97 Camera 98 Control unit 99 Wheel 100 1st tilt sensor 101 2nd tilt sensor 111 Control 112 Communication 113 Power supply 114 Storage 121 1st actuator 122 2nd actuator 123 Tactile sensor 131 Leg control 141 Camera 142 Camera control unit 190 Pressure sensor 200b Moving mechanism 201 Rotating plate 202 Motor control unit 203 Motor 204 Crank shaft 205 Moving plate 206 Rail 211 Magnet 212b Position detection unit 213 Synchronous clock signal generation unit 214 Power supply unit 215a Flexible board 220 Tilt information detection Unit 222 Tilt angle generation unit 230 Linear tracking mechanism 300 First tilt sensor 301 Second tilt sensor 320 Tilt information detection unit 321 Synchronous detection unit 330 Linear tracking mechanism PT Patient W1 Output waveform W2 Output waveform W3 Output waveform ΔPH Phase shift ΔV0 Output waveform Amount of change between peaks of W2 ΔV1 Amount of change between peaks of output waveform W3 θ, φ Inclined angle

Claims (12)

A moving body control system having a tilt sensor that detects tilt information from a horizontal plane perpendicular to the gravity of the moving body and a control unit that controls the posture of the moving body based on the tilt information.
The tilt sensor
A pressure sensor that is arranged so as to be movable relative to the moving body and detects the pressure of the fluid,
An inclination information detection unit that detects the inclination information based on the output of the pressure sensor and the movement information of the pressure sensor.
A mobile control system characterized by being equipped with. The tilt sensor includes a movement mechanism that moves the pressure sensor with respect to the moving body in a predetermined movement path, and the tilt information detection unit is based on the movement information of the pressure sensor and the output of the pressure sensor. The moving body control system according to claim 1, wherein the tilt information of the moving body is detected. The moving body control system according to claim 2, wherein the moving mechanism includes a rotating body on which the pressure sensor is arranged, and the pressure sensor is moved in a circular shape by rotating the rotating body. The moving mechanism is characterized in that the pressure sensor is arranged, a linear moving body that can move linearly is provided, and the pressure sensor is linearly moved by moving the linear moving body linearly. 2. The mobile control system according to 2. Any of claims 1 to 4, wherein the tilt information detecting unit detects the tilt information based on the moving distance of the pressure sensor and the change in the output value of the pressure sensor with respect to the moving distance. Mobile control system described in Crab. The control unit is provided outside the moving body, receives the tilt information detected by the tilt sensor, and controls the posture of the moving body based on the tilt information. Item 4. The mobile body control system according to any one of Items 1 to 5. The moving body control system according to any one of claims 1 to 6, wherein the moving body is a vehicle, and the inclination information is information about the posture of the vehicle with respect to the horizontal plane. The moving body control system according to any one of claims 1 to 6, wherein the moving body is an autonomous traveling vehicle, and the inclination information is information about the posture of the vehicle with respect to the horizontal plane. The moving body control system according to any one of claims 1 to 6, wherein the moving body is a flying body, and the inclination information is information regarding the posture of the flying body with respect to the horizontal plane. The moving body control system according to any one of claims 1 to 6, wherein the moving body is an autonomous flight type flying body, and the inclination information is information regarding the attitude of the flying body with respect to the horizontal plane. The moving body control according to any one of claims 1 to 6, wherein the moving body is a robot that cares for a patient, and the inclination information is information about a posture of at least a part of the robot with respect to the horizontal plane. system. A moving body according to any one of claims 1 to 11, wherein the posture can be controlled by the moving body control system.

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