JP7301471B2 - Electronic devices and moving bodies equipped with them - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile body capable of traveling in a pedestrian space, and more particularly to an electric cart having front and rear wheels.

With the aging society, the use of electric carts that can run on sidewalks is increasing. In a space where there are obstacles on the sidewalk or the sidewalk is narrow, the electric cart must be driven from the sidewalk to the roadway and from the roadway to the sidewalk. There is a step between the sidewalk and the roadway, and in order to prevent the electric cart from overturning due to this step, Patent Document 1 discloses an electric wheelchair that can be horizontally controlled by raising one of the front wheels against an inclination. disclosed. Further, in Patent Document 2, an obstacle on a step or a slope is detected, the degree of obstacle is determined according to the height of the step, or the degree of obstacle is determined according to the inclination angle of the slope, and priority is given based on the degree of obstacle. Disclosed is an electric vehicle that determines an obstacle to report on.

JP 2006-263104 A JP 2014-226194 A

As shown in FIG. 1, when the electric cart 10 is traveling on a sidewalk 20, if the path is blocked by an obstacle such as a bicycle, or if the width of the sidewalk becomes narrow, the electric cart 10 will move to the sidewalk 20. is forced to temporarily descend onto the roadway 30. At this time, the electric cart 10 travels on the slope (inclined portion) 40 that reduces the step between the sidewalk 20 and the roadway 30 and gets off the roadway 30. However, if the electric cart 10 enters the slope 40 at a shallow angle, Either the left or right front and rear wheels get on the slope 40 at the same time, and the electric cart 10 is shaken in the lateral direction strongly and the user and the vehicle body are greatly shaken, so that the electric cart 10 may roll over, or Even if it does not roll over, it gives the user a sense of fear.

Therefore, when entering a slope such as the slope 40 with the electric cart 10, the manufacturer recommends entering the slope 40 from the front as much as possible. Since the electric cart 10 is structurally more prone to overturning left and right than overturning forward and backward, it is desirable to enter the slope 40 in the recommended posture. However, it is not always possible to enter from the front due to external factors such as space on the sidewalk and obstacles on the road surface. There is a problem that the user cannot grasp the degree of angle that can reduce the possibility of overturning in a situation where there is no choice but to enter at an angle.

SUMMARY OF THE INVENTION It is an object of the present invention to solve such conventional problems and to provide an electronic device equipped with a function of notifying the user of the danger of overturning when passing through an inclined area, and a moving object equipped with the electronic device.

An electronic device according to the present invention is mounted on a moving object, and includes detecting means for detecting the width of an inclined area existing on a road; calculation means for calculating a minimum entry angle at which the front wheels and rear wheels on one side do not exist simultaneously on the inclined area while passing through the area; determination means for deciding an entry angle at which the moving body enters the inclined area; and output means for outputting a warning when the approach angle is smaller than the minimum approach angle.

In one embodiment, the output means issues a warning of steering wheel operation such that the angle of approach to the inclined area becomes large. In one embodiment, when the distance to the inclined area is less than a certain value, the output means issues a warning of steering operation such that the angle of approach to the inclined area increases after warning of reversing. In one embodiment, said output means warns of a reduction in speed entering said ramp area.

Further, the electronic device according to the present invention is mounted on a moving object, and includes detecting means for detecting the width of an inclined area existing on a road; calculating means for calculating a minimum entry angle at which the front wheels and rear wheels on one side do not exist on the inclined area at the same time while passing through the inclined area; and determining means for determining the entering angle at which the moving body enters the inclined area. and control means for controlling movement of the moving object based on the approach angle and the minimum approach angle.

In one embodiment, the control means controls the moving direction of the moving body so that the approach angle is larger than the minimum approach angle. In one embodiment, when the approach angle is smaller than the minimum approach angle, the control means causes the moving body to retreat, and then adjusts the moving direction of the moving body so that the approach angle becomes greater than the minimum approach angle. to control. In one embodiment, when the approach angle is smaller than the minimum approach angle, the control means controls the speed of the moving body to be below a certain level when passing through the inclined area. In one embodiment, the sloped area is a ramp provided between the sidewalk and the vehicle. Further, a mobile body of the present invention includes front wheels and rear wheels that are equipped with the electronic device described above and that can run on sidewalks.

According to the present invention, the minimum approach angle is calculated from the width of the inclined area and the wheelbase, and a warning is issued when the approach angle is smaller than the minimum approach angle. can know the possibility of rollover. Furthermore, by warning the steering wheel operation that will result in an approach angle larger than the minimum approach angle, the user can be prevented from overturning when passing through an inclined area.

FIG. 10 is a schematic plan view of an electric cart when traveling on a slope for explaining a problem of a conventional electric cart. FIG. 1 is a side view showing an example of an electric cart according to an embodiment of the present invention; FIG. 1 is a block diagram showing the configuration of an in-vehicle device mounted on an electric cart according to an embodiment of the present invention; FIG. It is a block diagram which shows the functional structure of the warning control program which concerns on the Example of this invention. It is a figure explaining the definition of the minimum approach angle to the slope by the Example of this invention. FIG. 4 is a diagram illustrating a method of determining an approach angle according to an embodiment of the present invention; FIG. 4 is a diagram illustrating a method of determining an approach angle according to an embodiment of the present invention; FIG. 5 is a block diagram showing the configuration of an in-vehicle device according to another embodiment of the present invention;

The electronic device according to the present invention may be an in-vehicle device that is fixedly mounted on a mobile object, or may be an in-vehicle device that is removable from the mobile object. Also, the electronic device according to the present invention may be a portable information terminal (for example, a multifunctional mobile phone such as a smart phone or a notebook computer) that can be carried by the user. A mobile body on which the electronic device of the present invention is mounted is a vehicle that is allowed to run on a sidewalk like a pedestrian, such as an electric cart having front and rear wheels.

Next, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 2 is a side view showing an example of the electric cart of this embodiment. The electric cart 100 is a vehicle that runs using a battery as a power source, and has front and rear wheels. The number of front wheels and rear wheels is not limited, but is, for example, four or three. The electric cart 100 can steer the front wheels 106 by rotating the left and right handles 102 with respect to the shaft 104 . The rear wheels 108 are connected to a motor (not shown), and the motor is driven by a battery. A brake lever for braking a front wheel 106 and a rear wheel 108 is attached to the handle 102 . Such an electric cart 100 can travel at low speeds and is allowed to travel on sidewalks like pedestrians.

The electric cart 100 of the present embodiment is equipped with an obstacle detection unit 110 for detecting an obstacle ahead, and when an obstacle is detected by the obstacle detection unit 110, the electric cart 100 ensures safety during traveling. is notified to the user (driver). Particularly in this embodiment, the obstacle detection unit 110 detects a slope (inclined portion) provided between the roadway and the sidewalk, and warns the user of the possibility of rollover when passing the slope.

FIG. 3 is a block diagram showing the configuration of the in-vehicle device 200 mounted on the electric cart 100. As shown in FIG. In-vehicle device 200 includes obstacle detection section 110 , control section 210 , storage section 220 and output section 230 .

In one embodiment, the obstacle detection unit 110 is a three-dimensional ranging sensor that detects obstacles in front of the electric cart 100 . The 3D ranging sensor irradiates a transmission wave (laser or radar) in front of the electric cart 100 while changing the angle within a certain measurement angle range, and receives the reception wave when the transmission wave is reflected by an obstacle. By doing so, the relative distance and relative angle to the obstacle are detected from the time difference. Based on such detection results, the outline of a three-dimensional obstacle can be detected, and for example, a slope that changes in height between a sidewalk and a roadway can be detected. Also, in another embodiment, the obstacle detector 110 can include an imaging camera. Obstacles are detected by analyzing image data captured by an imaging camera. The distance and angle to the obstacle can be detected from the analyzed size and position of the obstacle. The imaging camera may be composed of, for example, a stereo camera to improve the detection accuracy of the distance and angle to the obstacle. Furthermore, the obstacle detection unit 110 may further improve the detection accuracy of obstacles by using both an imaging camera and a 3D ranging sensor.

As shown in FIG. 1, the obstacle detection unit 110 detects the slope 40 provided to reduce the difference in level between the roadway and the sidewalk as an obstacle, and provides the control unit 210 with the detection result.

When the obstacle detection unit 110 detects the slope, the control unit 210 determines whether or not the approach angle of the electric cart passing through the slope is safe, that is, whether or not there is a risk of the electric cart overturning. , when it is determined that the approach angle is unsafe (when it is determined that there is a possibility of a rollover), a warning is given to the user via the output unit 230 . The output unit 230 includes, for example, a display unit and an audio output unit, and displays a warning on the display unit when there is a possibility of a rollover, or issues an audio warning from the audio output unit. In one embodiment, the control unit 210 includes a microcomputer with ROM/RAM, a microprocessor, or the like, and executes a program stored in the ROM/RAM or the like to perform warning control when passing a slope.

FIG. 4 is a block diagram showing the functional configuration of the warning control program executed by control unit 210. As shown in FIG. As shown in the figure, the warning control program 240 has a slope width detector 250 , a vehicle information acquirer 260 , a minimum approach angle calculator 270 , an approach angle determiner 280 and a warning generator 290 .

The slope width detection section 250 detects the width of the slope based on the detection information regarding the slope detected by the obstacle detection section 110 . The width of the slope is the lateral distance (perpendicular to the direction in which the road extends or substantially perpendicular to it) between the sidewalk side start point and the road side end point.

The vehicle information acquisition unit 260 acquires known vehicle information regarding the electric cart 100 stored in the storage unit 220 . Here, the wheel base of the electric cart 100 is acquired as the vehicle information. The wheelbase is the distance from the center of the axle of the front wheels to the center of the axle of the rear wheels.

The minimum approach angle calculation unit 270 uses the slope width detected by the slope width detection unit 250 and the hall base of the electric cart 100 obtained by the vehicle information acquisition unit 260 to calculate the minimum approach angle of the slope.

A conventional electric cart does not know a safe approach angle when passing through a slope, and it is unclear whether the current approach angle is safe or not. Therefore, the safe approach angle to the slope is calculated, this is set as the minimum approach angle, and the approach angle when the electric cart actually enters the slope is compared with the minimum approach angle. determine whether or not

In the case of an approach angle in which either the left or right front and rear wheels of the electric cart are on the slope at the same time, the lateral force generated during driving and after passing the slope is greater than when entering from the front, causing the electric cart to roll over. more likely. This is therefore a dangerous entry angle. Therefore, the angle at which the front and rear wheels on either the left or right side of the electric cart are not on the slope at the same time while the electric cart is passing is regarded as the safe approach angle at which the electric cart can safely pass the slope, and this is the minimum approach angle θ. do. The angle at which the front and rear wheels are not present on the slope at the same time is, as shown in FIG. ring), the minimum approach angle θ is calculated by the following equation.
θ=sin ⁻¹ (b/a)
a: wheelbase, b: slope width

FIG. 5B shows a case where the approach angle θin is smaller than the minimum approach angle θ, and in this case, the left front and rear wheels of the electric cart are on the slope at the same time. For this reason, it is a dangerous approach angle that increases the possibility of overturning during or after traveling on the slope. On the other hand, FIG. 5(C) shows a case where the approach angle θin is larger than the minimum approach angle θ. In this case, the front and rear wheels on the left side of the electric cart are not on the slope at the same time, so there is no possibility of rolling over. Low safe approach angle.

The approach angle determination unit 280 determines the angle at which the electric cart 100 actually enters the slope. As shown in FIG. 6A, while the electric cart 100 is traveling on the sidewalk 20, the obstacle detection unit 110 detects obstacles within the measurement angle range S. As shown in FIG. In this case, the obstacle detector 110 detects the boundary (outline) P in the longitudinal direction of the slope 40 . The boundary P is in a direction perpendicular to or substantially perpendicular to the slope width, but the linear boundary P is not necessarily detected by the obstacle detection section 110 . In such a case, a linear boundary P is approximated based on the detection result.

When the electric cart 100 is forced to go down to the roadway 30 due to an external factor in front of the sidewalk 20, the electric cart 100 operates the handle to pass the slope 40 as shown in FIG. 6(B). change course. As the electric cart 100 turns, the orientation difference between the electric cart 100 and the boundary P of the slope 40 changes. The installation position of the obstacle detection unit 110 is known, and assuming that it is installed directly in front of the electric cart 100, as shown in FIG. θin is the approach angle.

The warning unit 290 compares the minimum approach angle θ calculated by the minimum approach angle calculation unit 270 and the actual approach angle θin determined by the approach angle determination unit 280, and determines whether the approach angle to the slope is safe. judge. If the actual approach angle θin is equal to or less than the minimum approach angle θ, the warning unit 290 warns the user to turn the steering wheel further because it is dangerous to enter the slope as it is. For example, a voice output or display warning such as "If you enter the vehicle as it is, there is a possibility of rollover and it is dangerous. Please turn the steering wheel so that the approach angle increases." In addition, if the speed after passing the slope is high, the electric cart may shake greatly due to the impact, so the warning unit 290 may warn to slow down when passing the slope. These warnings are issued via the output unit 230 .

As another embodiment, the warning unit 290 warns the user to retreat when the steering wheel needs to be turned further but the distance required to adjust the attitude of the electric cart 100 cannot be secured. It is also possible to give an instruction to round up again. When the distance from the electric cart 100 to the slope 40 is less than a certain distance based on the detection result of the obstacle detection unit 110, the warning unit 290 prompts the driver to move backward, and when the distance above the certain distance to the slope 40 is secured, the obstacle is detected. When detected by the object detection unit 110, a warning is given to further steering of the steering wheel.

Another embodiment of the present invention will now be described. FIG. 8 is a diagram showing the configuration of an in-vehicle device 200A according to another embodiment. In this embodiment, the in-vehicle device 200A includes, in addition to the configuration shown in FIG. and

The approach angle determination unit 280 determines the actual position of the electric cart 100 based on the steering angle detected by the steering angle detection unit 300 when the electric cart 100 reaches the position immediately before entering the slope by the obstacle detection unit 110. Determine the angle of approach to the slope. When the approach angle is determined based on the amount of displacement of the slope detected by the obstacle detection unit 110, for example, if the steering wheel is turned while the vehicle is stopped in front of the slope, the subsequent direction of travel cannot be estimated. However, by using the steering wheel rudder angle as in this embodiment, the actual approach angle of the electric cart can be determined with high accuracy.

Further, when the warning unit 290 determines that the actual approach angle θin is smaller than the minimum approach angle θ, the travel control unit 310 rotates the steering wheel of the electric cart so that the approach angle θin is equal to or greater than the minimum approach angle θ. Adjust the angle automatically. At this time, the warning unit 290 issues the warning as described above and guides the driver to automatically adjust the steering wheel angle.

Furthermore, if the distance required for further steering of the steering wheel cannot be ensured, the travel control unit 310 automatically moves the electric cart backward to a distance at which the required distance for further steering of the steering wheel can be secured. angle can be adjusted automatically. At this time, the warning unit 290 issues the warning as described above, and also guides the driver to automatically move backward and adjust the steering wheel angle.

Further, the traveling control unit 310 can automatically control the traveling speed so that the speed when the electric cart 100 passes through the slope is below a certain level. Also in this case, it is desirable to issue a warning by the warning unit 290 at the same time.

In the above embodiment, an electric cart is illustrated, but this is an example, and the present invention can be applied to manually operated carts, wheelchairs, and the like, in addition to electric carts.

Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to specific embodiments, and various modifications, Change is possible.

20: Sidewalk 30: Roadway 40: Slope 100: Electric cart 110: Obstacle detector 200, 200A: In-vehicle device 210: Control unit 220: Storage unit 230: Output unit

Claims (9)

An electronic device mounted on a mobile body,
A detection means for detecting the width of an inclined area existing on a road, wherein the width of the inclined area is in a direction perpendicular to or substantially perpendicular to the direction in which the roadway of the slope provided between the sidewalk and the roadway extends. said detection means being a directional distance;
a calculation means for calculating a minimum entry angle from the width of the inclined area and the wheelbase of the moving body so that the front wheels and the rear wheels on one side do not exist on the inclined area at the same time while passing through the inclined area;
determining means for determining an entrance angle at which the moving body enters the inclined area;
output means for outputting a warning when the approach angle is smaller than the minimum approach angle;
electronic device. 2. The electronic device according to claim 1, wherein said output means issues a warning of steering wheel operation such that the angle of approach to said inclined area increases. 2. The output means according to claim 1, wherein when the distance to said inclined area is less than a predetermined value, said output means issues a warning of steering wheel operation such that an approach angle to said inclined area increases after warning of reversing. electronic device. 2. The electronic device according to claim 1, wherein said output means warns of a reduction in speed entering said inclined region. An electronic device mounted on a mobile body,
A detection means for detecting the width of an inclined area existing on a road, wherein the width of the inclined area is in a direction perpendicular to or substantially perpendicular to the direction in which the roadway of the slope provided between the sidewalk and the roadway extends. said detection means being a directional distance ;
a calculation means for calculating a minimum entry angle from the width of the inclined area and the wheelbase of the moving body so that the front wheels and the rear wheels on one side do not exist on the inclined area at the same time while passing through the inclined area;
determining means for determining an entrance angle at which the moving body enters the inclined area;
a control means for controlling movement of the moving body based on the approach angle and the minimum approach angle;
electronic device. 6. The electronic device according to claim 5, wherein said control means controls the direction of movement of said moving body so that said approach angle is larger than said minimum approach angle. When the approach angle is smaller than the minimum approach angle, the control means causes the moving body to retreat, and then controls the moving direction of the moving body so that the approach angle becomes greater than the minimum approach angle. Item 6. The electronic device according to item 5. 6. The electronic device according to claim 5, wherein, when said approach angle is smaller than said minimum approach angle, said control means controls the speed of the moving object when passing through said inclined area to be below a certain level. A moving body equipped with the electronic device according to any one of claims 1 to 8 , and including front wheels and rear wheels capable of traveling on sidewalks.

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