JP6934360B2 - Inverted pendulum type moving body - Google Patents

Description

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

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

Japanese Unexamined Patent Publication No. 2011-63161

By the way, when the main power supply is turned off by the power switch, the inverted pendulum control of the inverted pendulum type moving body cannot be continued. Therefore, when the passenger mistakenly or the power switch is operated by a third party to turn off the main power while the inverted pendulum type moving object is moving, that is, during the inverted pendulum control, the main power switch or the power line is disconnected. If this happens, the inverted pendulum control will stop immediately, and the passenger may fall.

The present invention has been made in view of such circumstances, and an object of the present invention is to provide an inverted pendulum type mobile body capable of suppressing a occupant's fall even when an erroneous operation of a power switch occurs. be.

One aspect of the present invention is an inverted pendulum type moving body that travels by driving a motor with electric power from a storage battery, and includes a drive control unit that controls the drive of the motor, a power switch that can be operated from the outside, and the like. A state determination unit for determining whether or not the inverted pendulum type moving body is in a state in which traveling can be stopped when the power switch is operated in the off state is provided, and the state determination unit includes the motor. When it is not rotating, when it does not detect boarding on the inverted pendulum type moving body, and when it detects the standing state of the stand that supports the inverted pendulum type moving body in the inverted state by being in the upright state. In at least one of the above cases, it is determined that the traveling stop is possible, and the drive control unit stops the traveling even when the operating state of the power switch is operated to the off state. It is an inverted pendulum type moving body, characterized in that the drive of the motor is not stopped when it is not determined that the state is possible.

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

One aspect of the present invention is the above-mentioned inverted pendulum type moving body, which includes a boarding unit and a boarding sensor for detecting boarding on the boarding unit. When boarding on the unit is not detected, it is determined that the inverted pendulum type moving body is in a state where the traveling can be stopped.

One aspect of the present invention is the above-mentioned inverted pendulum type moving body, which is a stand that supports the inverted pendulum type moving body in an inverted state by being in an upright state, and a stand state detection that detects the upright state of the stand. The state determination unit includes a sensor, and when the stand state detection sensor detects an upright state of the stand, the state determination unit determines that the inverted pendulum type moving body is in a state in which the traveling can be stopped. And.

One aspect of the present invention is the above-mentioned inverted pendulum type moving body, and when it is not determined that the traveling state can be stopped by the time when a predetermined time elapses after the power switch is operated to the off state. , It is determined that the inverted pendulum type moving body is out of order. Further, one aspect of the present invention is the above-mentioned inverted pendulum type moving body, and a predetermined time has elapsed since it was determined that the traveling state can be stopped even if the power switch is not operated in the off state. If so, the power of the inverted pendulum type moving body is turned off.

As described above, according to the present invention, even if an erroneous operation of the power switch occurs, it is possible to suppress the occupant from tipping over.

It is a figure which shows an example of the schematic structure of the inverted pendulum type mobile body A which concerns on one Embodiment of this invention. It is a flow chart of the operation which the inverted pendulum type moving body A which concerns on one Embodiment of this invention starts running. It is a flow chart of the operation which the inverted pendulum type moving body A which concerns on one Embodiment of this invention stops running.

Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the inventions that fall within the scope of the claims. Also, not all combinations of features described in the embodiments are essential to the means of solving the invention. In the drawings, the same or similar parts may be designated by the same reference numerals to omit duplicate explanations. In addition, the shape and size of elements in the drawings may be exaggerated for a clearer explanation.

When a part of the specification is to "include", "have", or "provide" a component, this does not exclude other components unless otherwise stated. It means that it can further include the components of.

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

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

The inverted pendulum type moving body A is a coaxial two-wheeled vehicle that travels while maintaining an inverted state, and can move back and forth and left and right by moving the center of gravity of the passenger. For example, the inverted pendulum type mobile body A is provided with a boarding section, and a user (passenger) who has boarded the boarding section moves forward and backward by inclining the boarding section back and forth. Further, in the inverted pendulum type moving body A, the passenger makes a left-right turn by inclining the boarding portion to the left and right. The boarding portion may be a step portion attached to the base on which the user rests the foot portion, or a seating portion attached to the substrate on which the user can sit.

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

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

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

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

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

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

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

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

The motors 7a and 7b independently rotate and drive a plurality of wheels arranged coaxially. Specifically, the motor 7a rotationally drives one of the plurality of wheels based on the first drive signal output from the control device 9. Further, the motor 7b rotationally drives the other wheel of the plurality of wheels based on the second drive signal output from the control device 9. When the motors 7a and 7b are not distinguished from each other, they are simply labeled as "motor 7".

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

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

The rotation detection sensors 8a and 8b include, for example, a magnetic encoder. When each of the rotation detection sensors 8a and 8b is not distinguished, it is simply labeled as "rotation detection sensor 8".

The control device 9 is, for example, a PDU (Power Drive Unit) that controls the drive of the motors 7a and 7b, respectively. The configuration of the control device 9 will be described below.
The control device 9 includes a control unit 10 and a drive unit 11. The control unit 10 includes a state determination unit 111 and a drive control unit 112.

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

The state determination unit 111 determines that the inverted pendulum type moving body A can stop traveling in at least any one of (1) to (3). However, in the present embodiment, from the viewpoint of safety, the state determination unit 111 determines that the inverted pendulum type moving body A can stop traveling when all of (1) to (3) are satisfied. do.

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

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

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

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

The operation of the inverted pendulum type mobile body A according to the embodiment of the present invention will be described below. First, the operation of starting the traveling of the inverted pendulum type moving body A will be described. FIG. 2 is a flow chart of an operation in which the inverted pendulum type moving body A according to the embodiment of the present invention starts running.

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

The control device 9 is activated by the electric power supplied by being discharged from the storage battery 1 (step S104). Then, the control device 9 drives the motor 7 according to the movement of the center of gravity of the passenger (step S105).

Next, the operation of the inverted pendulum type moving body A according to the embodiment of the present invention to stop traveling will be described. FIG. 3 is a flow chart of an operation in which the inverted pendulum type moving body A according to the embodiment of the present invention stops traveling.
Here, one of the features of the inverted pendulum type moving body A according to the embodiment of the present invention is that the power switch 3 is erroneously turned off when the inverted pendulum type moving body A is performing the inverted pendulum control. It is possible to suppress the occupant's fall even when the passenger is operated.

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

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

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

On the other hand, when the calculated rotation speed is less than a predetermined value, the state determination unit 111 determines that the motor 7 is not rotating. Then, when it is determined that the motor 7 is not rotating, the state determination unit 111 determines whether or not there is a occupant in the inverted pendulum type moving body A (step S204).

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

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

For example, the state determination unit 111 determines that the stand is not in the upright state when the stand state detection sensor 6 has not detected the upright state of the stand. In this case, the drive control unit 112 does not stop the motor 7 because the inverted pendulum type moving body A may be running. Then, the state determination unit 111 returns to the process of step S202. If there is a possibility that the inverted pendulum type moving body A is running, it corresponds to a state in which the running cannot be stopped.

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

When the state determination unit 111 detects the stop of the motor 7 based on the pulse signal from the rotation detection sensor 8, it transmits a stop completion signal to the BMU 2 (step S207).
When the BMU 2 acquires the stop completion signal from the state determination unit 111, the BMU 2 controls the power supply switch to the off state to prohibit the discharge of the storage battery 1. As a result, the power supply from the storage battery 1 is stopped, and the main power supply of the inverted pendulum type mobile body A is turned off (cut off) (step S208).

Although the embodiments of the present invention have been described in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and includes designs and the like within a range that does not deviate from the gist of the present invention.

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

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

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

(Modification 4) In the above embodiment, the inverted pendulum type mobile body A is set after at least one of (1) to (3) described above is satisfied even if the power switch 3 is not operated in the off state. When the predetermined time has elapsed, the main power supply may be turned off. As a result, it is possible to prevent forgetting to turn off the power switch 3 and to omit the work of operating the power switch 3 in the off state.

(Modification 5) In the above embodiment, when the inverted pendulum type mobile body A outputs a fail when the voltage of the main power supply drops below a predetermined value, the power supply switch 3 is operated to the off state to be the main power supply. If is blocked, the above fail is ignored or not output. As a result, it is not necessary to memorize the fail every time the main power supply is cut off, and it is not necessary to use the memory for memorizing the fail.

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

By the way, in the case of the conventional system in which the main power supply of the inverted pendulum type moving body A is cut off by operating the power switch in the off state, the main power supply is cut off during the regenerative braking. Then, there is no place for the regenerative power to return. Therefore, the internal voltage of the inverted pendulum type moving body A rises, which may cause a failure of electronic components. On the other hand, in the present embodiment, the main power supply is not cut off even when the power switch is operated in the off state during regenerative braking. Therefore, it is possible to prevent the failure of the electronic component.

Each part of the inverted pendulum type mobile body A according to the present embodiment may be configured by installing a program that performs various processes related to drive control of the motor 7 and causing a computer to execute this program. That is, the inverted pendulum type mobile body A is configured by causing the computer to execute a program that performs various processes for controlling the drive of the motor 7 so that the computer functions as each part of the inverted pendulum type mobile body A. You may.
A computer has various memories such as a CPU, ROM, RAM, and EEPROM (registered trademark), a communication bus, and an interface. It functions as a moving body A.

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

Claims (6)

It is an inverted pendulum type mobile body that runs by driving a motor with electric power from a storage battery.
A drive control unit that controls the drive of the motor,
A power switch that can be operated from the outside and
A state determination unit that determines whether or not the inverted pendulum type moving body is in a state in which traveling can be stopped when the power switch is operated in the off state.
With
The state determination unit supports the inverted pendulum type moving body in an inverted state when the motor is not rotating, when it does not detect boarding on the inverted pendulum type moving body, and when it is in an upright state. In at least one of the cases where the standing state of the stand is detected, it is determined that the running can be stopped.
The drive control unit is characterized in that even when the operation state of the power switch is operated to the off state, the drive of the motor is not stopped if it is not determined that the traveling state can be stopped. An inverted pendulum type mobile body. A rotation detection sensor for detecting the rotation of the motor is further provided.
The state determination unit is characterized in that, when the rotation detection sensor does not detect the rotation of the motor, the state determination unit determines that the inverted pendulum type moving body is in a state in which the traveling can be stopped. The described inverted pendulum type mobile body. With the boarding department
A boarding sensor that detects boarding on the boarding section and
With
The state determination unit is characterized in that, when the boarding sensor does not detect boarding on the boarding unit, the state determination unit determines that the inverted pendulum type moving body is in a state in which the traveling can be stopped. 1 or the inverted pendulum type moving body according to claim 2. A stand that supports the inverted pendulum type moving body in an inverted state by being in an upright state, and a stand that supports the inverted pendulum type moving body in an inverted state.
A stand state detection sensor that detects the standing state of the stand, and a stand state detection sensor.
With
The state determination unit is characterized in that, when the stand state detection sensor detects the standing state of the stand, the state determination unit determines that the inverted pendulum type moving body is in a state in which the traveling can be stopped. The inverted pendulum type mobile body according to any one of 3 to 3. If it is not determined that the traveling can be stopped within a predetermined time after the power switch is operated in the off state, it is determined that the inverted pendulum type moving body is out of order.
The inverted pendulum type mobile body according to any one of claims 1 to 4. When a predetermined time elapses after it is determined that the traveling can be stopped even if the power switch is not operated in the off state, the power of the inverted pendulum type moving body is turned off.
The inverted pendulum type mobile body according to any one of claims 1 to 5.

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