WO2014045823A1 - Chariot à main - Google Patents

Chariot à main Download PDF

Info

Publication number
WO2014045823A1
WO2014045823A1 PCT/JP2013/073095 JP2013073095W WO2014045823A1 WO 2014045823 A1 WO2014045823 A1 WO 2014045823A1 JP 2013073095 W JP2013073095 W JP 2013073095W WO 2014045823 A1 WO2014045823 A1 WO 2014045823A1
Authority
WO
WIPO (PCT)
Prior art keywords
main body
angle
pitch
wheels
wheel
Prior art date
Application number
PCT/JP2013/073095
Other languages
English (en)
Japanese (ja)
Inventor
賢一 白土
滋 辻
Original Assignee
株式会社村田製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社村田製作所 filed Critical 株式会社村田製作所
Priority to JP2014531428A priority Critical patent/JP5704283B2/ja
Publication of WO2014045823A1 publication Critical patent/WO2014045823A1/fr

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5069—Angle sensors

Definitions

  • the present invention relates to a handcart provided with wheels for assisting walking, and more particularly to an electric handcart for driving and controlling the wheels.
  • walking assistance vehicles have been developed as devices for assisting walking of the elderly and disabled persons.
  • Conventional walking assistance vehicles are often composed of four or eight wheels to prevent falling during walking, and the stability during walking is reduced by lowering the center of gravity of the walking assistance vehicle with a carry bag or the like. Is increasing.
  • a walking assist vehicle that rotates wheels with an electric motor or the like has also been developed.
  • observer control is performed to detect the tilt angle of the main body of the walk assist vehicle and maintain the posture of the walk assistant by maintaining the main body at a stable tilt angle. ing.
  • Patent Document 1 discloses a moving body that estimates an inclination angle with high accuracy via an external force observer based on an angle calculated geometrically based on detection values of two or more axes of acceleration sensors.
  • the observer adjusts the gain so that the detected value of the acceleration sensor is lowered and the detected value of the gyro sensor is increased and weighted in the longitudinal acceleration state. Therefore, when the acceleration state in the front-rear direction continues, it is necessary to estimate the tilt angle only with the detection value of the gyro sensor, and there is a problem that the estimation accuracy of the tilt angle may be significantly reduced.
  • This invention is made in view of such a situation, and it aims at providing the handcart which can estimate the inclination angle of the pitch direction of a main-body part with high precision.
  • a handcart includes a pair of wheels, one or a plurality of drive units for rotating the pair of wheels, and a main body unit on which the pair of wheels are rotatably supported.
  • a gripping portion provided on the other side of the main body, and a support for rotatably supporting one or a pair of auxiliary wheels on the other side, connected to the main body so as to be rotatable in the pitch direction on one side.
  • control unit that controls the operation of the one or a plurality of driving units, in a handcart, an angle detection unit that detects an angle formed by the main body unit and the support unit, and detected by the angle detection unit And an angle estimating means for estimating an angle formed by the main body with respect to the vertical direction based on the angle, and controlling the operation of the main body based on the estimated angle.
  • the angle formed between the main body and the support is detected, and the angle formed by the main body with respect to the vertical direction is estimated based on the detected angle. Since the operation of the main body is controlled based on the estimated angle, even if the acceleration state in the front-rear direction continues without using an expensive tilt angle sensor, the pitch of the main body can be accurately determined.
  • the inclination angle can be estimated, and based on the estimated inclination angle in the pitch direction, the posture of the main body can be controlled so as to converge to an equilibrium angle at which the main body does not collapse.
  • the handcart according to the present invention includes a ground contact determination unit that determines whether the wheel and the auxiliary wheel are in contact with the road surface, or the wheel and the auxiliary wheel, or any one of them. It is preferable to provide.
  • the angle which a main-body part makes with respect to a perpendicular direction is estimated. Since the operation of the main body is controlled based on the estimated angle, even if the acceleration state in the front-rear direction continues without using an expensive tilt angle sensor, the pitch of the main body can be accurately determined.
  • the inclination angle can be estimated, and based on the estimated inclination angle in the pitch direction, the posture of the main body can be controlled so as to converge to an equilibrium angle at which the main body does not collapse.
  • a contact sensor using a limit switch, a non-contact sensor such as an infrared sensor, an ultrasonic sensor, or the like may be used as the ground determination unit.
  • the handcart according to the present invention includes, on the wheel and the auxiliary wheel, a ground determination unit that determines whether or not the wheel and the auxiliary wheel or one of the wheels is in contact with the road surface, and the ground determination is performed.
  • the means determines whether or not the vehicle is in contact with the road surface based on a difference between the rotational movement distance of the wheel and the rotational movement distance of the auxiliary wheel during traveling.
  • the angle formed by the main body with respect to the vertical direction is estimated. Since the operation of the main body is controlled based on the estimated angle, even if the acceleration state in the front-rear direction continues without using an expensive tilt angle sensor, the pitch of the main body can be accurately determined.
  • the inclination angle can be estimated, and based on the estimated inclination angle in the pitch direction, the posture of the main body can be controlled so as to converge to an equilibrium angle at which the main body does not collapse.
  • the handcart according to the present invention includes an encoder for detecting the rotation speed of the wheel and the rotation speed of the auxiliary wheel.
  • the number of rotations of the wheels and the number of rotations of the auxiliary wheels can be detected by the encoder, and it can be determined whether or not the vehicle is in contact with the road surface based on the difference between the respective rotational movement distances during traveling. .
  • the angle formed between the main body and the support is detected, and the angle formed by the main body with respect to the vertical direction is estimated based on the detected angle. Since the operation of the main body is controlled based on the estimated angle, even if the acceleration state in the front-rear direction continues without using an expensive tilt angle sensor, the pitch of the main body can be accurately determined.
  • the inclination angle can be estimated, and based on the estimated inclination angle in the pitch direction, the posture of the main body can be controlled so as to converge to an equilibrium angle at which the main body does not collapse.
  • FIG. 1 is a perspective view showing the configuration of the handcart according to the first embodiment of the present invention.
  • a pair of wheels 2 are supported by a main body 3 so that the pair of wheels 2 can rotate, and a main body on a side opposite to a side where the pair of wheels 2 are supported.
  • the grip portion 4 is not necessarily provided at one end, and may be provided in the middle of the main body portion 3.
  • FIG. 2 is a schematic diagram illustrating the pitch direction, the roll direction, and the yaw direction.
  • the rotation direction around the y axis is the pitch direction. It is.
  • the wheel 2 rotates counterclockwise facing the (+) direction of the y-axis, the main body 3 tilts forward, and when the wheel 2 rotates clockwise toward the (+) direction of the y-axis The main body 3 is inclined backward.
  • the rotation direction around the x axis is the roll direction, and is the rotation direction when the main body 3 swings in the left-right direction. Furthermore, the rotation direction around the z axis is the yaw direction, and is the rotation direction when the direction of the pair of wheels 2 is tilted from the x axis direction.
  • the main body 3 includes a pitch motor (drive unit) 6 that rotates the pair of wheels 2, and a pitch encoder 61 that detects the rotational position (angle) or rotational speed of the pitch motor 6.
  • the main body 3 and the pair of wheels 2 are connected by a frame 31 that rotatably supports the pair of wheels 2, and the pitch motor 6 is rotated by a belt or gear (not shown) provided in the main body 3. Via the pair of wheels 2.
  • the frame 31 is a part of the main body 3.
  • a sensor for detecting the pitch angular velocity of the main body 3, for example, a gyro sensor may be provided.
  • the main body 3 includes a control board (control unit) 32 and a battery 33 for controlling the operation (rotation) of the pitch motor 6.
  • a driver On the control board 32, a driver, an A / D converter, a D / A converter, a counter, a controller for controlling the operation of the pitch motor 6, and the like are mounted.
  • the controller is a microprocessor, CPU, LSI or the like.
  • the handcart 1 is controlled so as to balance in the pitch direction by using the reaction torque accompanying the rotation of the pair of wheels 2.
  • the handcart 1 includes auxiliary wheels 8 in order to increase the stability of the walking assistant during walking.
  • the auxiliary wheel 8 is supported so as to be able to rotate at the other end of the support part 7 whose one end is connected to the main body part 3 so as to be able to rotate in the pitch direction.
  • one auxiliary wheel 8 may be provided, or a pair of auxiliary wheels 8 may be provided in order to increase the stability in the roll direction.
  • another driving unit that urges the auxiliary wheel 8 in a direction in which the auxiliary wheel 8 is pressed against the road surface.
  • An elastic body such as a spring that connects the main body 3 and the support 7 may be provided.
  • the support portion 7 does not necessarily have one end connected to the main body portion 3, and an intermediate portion of the support portion 7 may be connected to the main body portion 3.
  • the auxiliary wheel 8 does not necessarily have to be supported by the other end of the support portion 7 and is supported by an intermediate portion of the support portion 7 as long as the other end of the support portion 7 is not in contact with the ground. May be.
  • the position of the fulcrum 10 that is the rotation center of the support part 7 is not particularly limited as long as it is within the main body part 3. This is because it is sufficient if the main body 3 can be prevented from falling.
  • an electric motor 9 for rotating the connecting portion between the main body portion 3 and the support portion 7 or rotating the auxiliary wheel 8 may be provided in the connecting portion between the main body portion 3 and the supporting portion 7.
  • the control board 32 may function as a control unit that controls the operation (rotation) of the electric motor 9.
  • An angle (hereinafter referred to as a crossing angle) ⁇ 1 formed between the support portion 7 and the main body portion 3 is based on an output (pulse signal) of a support portion angle encoder (angle detection means) 91 built in the electric motor 9 or arranged alone. It is detected by calculating.
  • FIG. 3 is a control block diagram illustrating an example of control for preventing the handcart 1 according to the first embodiment of the present invention from falling in the pitch direction.
  • the target pitch angle setting unit 44 accepts the setting of a pitch inclination angle (target pitch angle) ⁇ rp that is a control target.
  • the angle detector 45 detects the crossing angle ⁇ 1 which is an angle formed between the main body 3 and the support 7 from the output (pulse signal) of the support angle encoder 91.
  • the pitch inclination angle estimation unit 47 estimates an inclination angle (pitch inclination angle) ⁇ 2 in the pitch direction that the main body 3 forms with respect to the vertical direction based on the calculated intersection angle ⁇ 1.
  • the target pitch angular velocity calculation unit 48 calculates the target pitch angular velocity ⁇ 2p by multiplying the pitch angle deviation obtained by subtracting the absolute inclination angle estimated from the target pitch angle ⁇ rp for which the setting has been received, by a proportional gain.
  • the pitch torque command generator 49 generates a pitch torque command ⁇ 0p for the calculated target pitch angular velocity ⁇ 2p by, for example, PID control.
  • the pitch motor torque command voltage calculation unit 50 multiplies the pitch torque command ⁇ 0p by a conversion coefficient to calculate a command voltage.
  • the pitch D / A converter unit 51 outputs a command voltage obtained by D / A conversion to the driver, and controls the operation of the pitch motor 6.
  • the pitch torque command generation unit 49 includes a detection unit that detects an angular velocity in the pitch direction of the main body 3 such as a gyro sensor, the target pitch angular velocity ⁇ 2p and the pitch obtained from the detection unit are included.
  • a pitch torque command ⁇ 0p may be generated by PID control, for example.
  • the pitch inclination angle ⁇ 2 may be obtained by integrating the detected value of the gyro sensor when a gyro sensor or the like for detecting the pitch angular velocity of the main body 3 is provided. As time passes, the deviation from the true value increases. Therefore, in the first embodiment, the pitch inclination angle ⁇ 2 that is an angle formed by the main body 3 with respect to the vertical direction is estimated based on the intersection angle ⁇ 1 formed by the main body 3 and the support 7.
  • FIG. 4 is a schematic view of the model of the handcart 1 according to the first embodiment of the present invention as viewed from the side.
  • the ground contact position of the pair of wheels 2 and auxiliary wheels 8 and the rotation center of the pair of wheels 2 and auxiliary wheels 8 are schematically represented. .
  • the main body 3 is inclined so as to form a pitch inclination angle ⁇ 2 with respect to the vertical direction.
  • the support part 7 supports the main-body part 3 by inclining so that the crossing angle (theta) 1 may be made with the main-body part 3.
  • the intersection angle ⁇ 1 varies depending on an angle (pitch inclination angle) ⁇ 2 formed by the main body 3 with respect to the vertical direction. This is because the support portion 7 is inclined so as to support the main body portion 3. However, the distance L1 from the grounding position of the main body 3 (the grounding position of the pair of wheels 2) to the intersection of the main body 3 and the support 7 and the grounding position of the support 7 (the grounding position of the auxiliary wheel 8) to the main body. Since the distance L2 to the intersection of the part 3 and the support part 7 is constant, the pitch inclination angle ⁇ 2 can be estimated geometrically as long as the pair of wheels 2 and the auxiliary wheel 8 are in contact with the road surface. .
  • FIG. 5 is a graph showing the relationship between the intersection angle ⁇ 1 and the pitch inclination angle ⁇ 2.
  • distance L2 1.2 ⁇ distance L1.
  • the pitch inclination angle ⁇ 2 fluctuates greatly in a portion where the crossing angle ⁇ 1 is small, but actually, when the crossing angle ⁇ 1 is too small, a sense of stability during walking is lacking.
  • FIG. 6 is a graph obtained by linear approximation of the relationship between the intersection angle ⁇ 1 and the pitch inclination angle ⁇ 2 when the intersection angle ⁇ 1 varies between 20 degrees and 50 degrees.
  • FIG. 7 is a flowchart showing the pitch-direction overturn prevention processing procedure of the controller of the control board 32 of the handcart 1 according to the first embodiment of the present invention.
  • the controller of the control board 32 accepts the setting of the pitch inclination angle (target pitch angle) ⁇ rp that is a control target (step S701).
  • the controller calculates an intersection angle ⁇ 1 that is an angle formed between the main body 3 and the support portion 7 from the output (pulse signal) of the support portion angle encoder 91 (step S702).
  • the controller estimates the tilt angle (pitch tilt angle) ⁇ 2 of the main body 3 in the pitch direction (step S703).
  • the controller calculates a pitch angle deviation obtained by subtracting the estimated value of the pitch inclination angle ⁇ 2 from the target pitch angle ⁇ rp that has received the setting (step S704), and multiplies the calculated pitch angle deviation by a proportional gain to obtain a target pitch angular velocity.
  • ⁇ 2p is calculated (step S705).
  • the controller determines whether or not to generate a pitch torque command ⁇ 0p by, for example, PID control for the target pitch angular velocity ⁇ 2p in the pitch torque command generation unit 49 (step S706). When it is necessary to stop the operation control of the pitch motor 6 for some reason, it is determined that the pitch torque command ⁇ 0p is not generated.
  • the controller determines to generate the pitch torque command ⁇ 0p (step S706: YES)
  • the controller multiplies the generated pitch torque command ⁇ 0p by a conversion coefficient to calculate a command voltage (step S706).
  • the controller performs D / A conversion on the calculated command voltage and outputs it to the driver that controls the operation of the pitch motor 6 (step S708).
  • the controller returns the process to step S702 and repeats the above-described process.
  • step S706 determines not to generate the pitch torque command ⁇ 0p (step S706: NO)
  • the controller stops the operation control of the pitch motor 6 and ends the process.
  • the controller determines that the pitch torque command ⁇ 0p is not generated, for example, when the power is turned off during the operation control of the pitch motor 6 regardless of whether it is intentional or accident, or the user However, there may be a case where a stop input is given through a switch or the like in order to stop the operation control of the pitch motor 6.
  • the intersection angle ⁇ 1 that is the angle formed between the main body portion 3 and the support portion 7 is detected, and the main body portion 3 is moved in the vertical direction based on the detected intersection angle ⁇ 1.
  • the pitch inclination angle ⁇ 2 made with respect to is estimated. Since the operation of the main body 3 is controlled based on the estimated pitch inclination angle ⁇ 2, it is estimated with high accuracy without using an expensive inclination angle sensor and even when the acceleration state in the front-rear direction continues.
  • the posture of the main body 3 can be controlled so that the main body 3 converges to an equilibrium angle at which the main body 3 does not fall down.
  • the handcart 1 according to the second embodiment includes a pair of wheels 2 and one or a pair of auxiliary wheels 8, or a ground determination unit (ground determination unit) that determines whether one of the wheels is in contact with the road surface. This is different from the first embodiment.
  • FIG. 8 is a functional block diagram of the ground determination process of the handcart 1 according to the second embodiment of the present invention.
  • the ground determination that determines whether the pair of wheels 2 and one or the pair of auxiliary wheels 8, or one of them is in contact with the road surface.
  • a portion 46 is provided.
  • the ground contact determination unit 46 has a rotational speed detection unit that detects the rotational speeds of the pair of wheels 2 and the auxiliary wheels 8 during traveling, and is calculated based on the rotational speed, and the rotational movement distance of the pair of wheels 2 during traveling. And whether or not the road surface is grounded based on the difference between the rotational movement distance of the auxiliary wheel 8.
  • rotation speed sensors that detect the rotation speeds of the pair of wheels 2 and the auxiliary wheels 8 at the time of traveling are provided on the axles of the pair of wheels 2 and the auxiliary wheels 8 respectively.
  • the type of the rotational speed sensor is not particularly limited, but a rotary encoder is used in the second embodiment.
  • the output values of the rotary encoders (pitch encoder, auxiliary wheel encoder) provided on the axles of the pair of wheels 2 and the auxiliary wheels 8 are acquired by the counter units 41A and 41B, and the rotation angle calculating unit 42A, In 42B, the rotational movement distance of the pair of wheels 2 and the rotational movement distance of the auxiliary wheel 8 during traveling are calculated.
  • the contact determination unit 46 determines whether or not the difference between the calculated rotational movement distance of the pair of wheels 2 and the rotational movement distance of the auxiliary wheel 8 is greater than a predetermined value. When the pair of wheels 2 and the auxiliary wheels 8 are in contact with the road surface, the rotational movement distances of the pair of wheels 2 and the auxiliary wheels 8 substantially coincide with each other in a normal use state.
  • the rotation angle calculation units 42A and 42B may include an LPF (low pass filter) for removing noise.
  • the balance direction of the wheelbarrow 1 is the vertical direction. Therefore, the pair of wheels 2 are always in contact with the road surface, and it is determined whether or not the auxiliary wheel 8 is in contact with the road surface.
  • FIG. 9 is a flowchart showing the procedure of the ground determination process of the controller of the control board 32 of the handcart 1 according to the second embodiment of the present invention.
  • the controller of the control board 32 acquires the output values of the rotary encoders (pitch encoder and auxiliary wheel encoder) provided on the axles of the pair of wheels 2 and the auxiliary wheels 8 (steps).
  • steps the controller of the control board 32 acquires the output values of the rotary encoders (pitch encoder and auxiliary wheel encoder) provided on the axles of the pair of wheels 2 and the auxiliary wheels 8 (steps).
  • steps steps
  • S901 based on the number of rotations of the pair of wheels 2 and the number of rotations of the auxiliary wheels 8 during traveling, the respective rotational movement distances are calculated.
  • the controller calculates a difference between the calculated rotational movement distance of the pair of wheels 2 and the rotational movement distance of the auxiliary wheel 8 (step S902), and determines whether the calculated difference is greater than a predetermined value (step S903). .
  • the controller determines whether or not the state where the difference is larger than the predetermined value continues for a predetermined time (step S904).
  • the controller determines that the auxiliary wheel 8 is separated from the road surface (not grounded) (step S905).
  • the pitch inclination angle ⁇ 2 cannot be estimated by the method described in the first embodiment. Therefore, for example, by providing a gyro sensor or the like for detecting the angular velocity ⁇ 1p in the pitch direction of the main body 3, the pitch inclination angle ⁇ 2 is obtained by integrating the detection values of the gyro sensor as in the conventional case.
  • step S903 determines that the calculated difference is equal to or less than the predetermined value (step S903: NO), or when it is determined that the difference has not continued for the predetermined time (step S904: NO)
  • step S906 the controller places the auxiliary wheel 8 on the road surface. Judging that it is grounded (step S906), the pitch inclination angle ⁇ 2 formed by the main body 3 with respect to the vertical direction is estimated by the method described in the first embodiment.
  • step S907 determines whether or not to end the process. If the controller determines to continue the process (step S907: NO), the controller returns the process to step S901 and repeats the above-described process. . When the controller determines to end the process (step S907: YES), the process ends.
  • the ground contact determination unit 46 includes the rotational speed detection means for detecting the rotational speeds of the pair of wheels 2 and the auxiliary wheels 8 during traveling.
  • the present invention is not particularly limited to this, and the direct road surface A limit switch may be provided as the contact determination unit 46, or a distance measuring sensor for measuring the distance from the road surface may be provided so that it can be determined whether or not the vehicle is in contact with the road.
  • FIG. 10 is an exemplary diagram showing a configuration when a limit switch is provided as the ground determination unit 46 of the handcart 1 according to the second embodiment of the present invention.
  • FIG. 10A is a schematic diagram showing a configuration when a limit switch is provided
  • FIG. 10B is a partially enlarged view showing a configuration near the auxiliary wheel 8 when a limit switch is provided.
  • the limit switch 103 is provided on the shaft (rotary shaft) 102 of the auxiliary wheel 8. As shown in FIG. A roller 104 is connected to the limit switch 103, and when the roller 104 is separated from the road surface, the switch is turned on so that the auxiliary wheel 8 can be detected to be separated from the road surface. It has become.
  • FIG. 11 is an exemplary diagram showing a configuration in the case where an infrared sensor is provided as the ground contact determination unit 46 of the handcart 1 according to the second embodiment of the present invention.
  • Fig.11 (a) is a schematic diagram which shows the structure in the case of providing an infrared sensor
  • FIG.11 (b) is the elements on larger scale which show the structure of the auxiliary wheel 8 vicinity in the case of providing an infrared sensor.
  • the infrared sensor 111 is rotatably attached to the shaft 102 of the auxiliary wheel 8 so as to be always kept horizontal by its own weight. Then, the distance to the road surface is measured, and when the measured value fluctuates beyond a predetermined value, the switch is turned on, so that it is possible to detect that the auxiliary wheel 8 has left the road surface. Yes.
  • FIG. 12 is an exemplary diagram showing a configuration in the case where an ultrasonic sensor is provided as the ground determination unit 46 of the handcart 1 according to the second embodiment of the present invention.
  • FIG. 12A is a schematic diagram showing a configuration in the case where an ultrasonic sensor is provided
  • FIG. 12B is a partially enlarged view showing a configuration in the vicinity of the auxiliary wheel 8 in the case where an ultrasonic sensor is provided.
  • the ultrasonic sensor 121 is rotatably attached to the shaft 102 of the auxiliary wheel 8 so as to be always kept horizontal by the weight of the sensor. Then, the distance to the road surface is measured, and when the measured value fluctuates beyond a predetermined value, the switch is turned on, so that it is possible to detect that the auxiliary wheel 8 has left the road surface. Yes.
  • FIG. 13 is an exemplary diagram showing a configuration in the case where a rotary encoder is provided on the axles of the wheel 2 and the auxiliary wheel 8 of the handcart 1 according to the second embodiment of the present invention.
  • the differential values of the output values of the rotary encoder (pitch encoder) 131 provided on the axle of the wheel 2 and the rotary encoder (auxiliary wheel encoder) 132 provided on the axle of the auxiliary wheel 8 are shown. Calculate the difference. When the wheel 2 and the auxiliary wheel 8 are in contact with the road surface, the difference between the calculated differential values is theoretically “0”. Therefore, when the difference of the calculated differential value exceeds a predetermined value, the switch is turned on, so that it is possible to detect that the auxiliary wheel 8 has left the road surface.
  • FIG. 14 is an exemplary diagram showing a configuration in the case of providing a rotary encoder that detects an intersecting angle ⁇ ⁇ b> 1 formed by the main body portion 3 and the support portion 7 of the handcart 1 according to the second embodiment of the present invention.
  • a rotary encoder (supporting part angle encoder) 141 for detecting an intersecting angle ⁇ 1 formed between the main body part 3 and the supporting part 7 is provided independently at a connecting part between the main body part 3 and the supporting part 7.
  • the main body 3 can be used with high accuracy without using an expensive inclination angle sensor and even when the longitudinal acceleration state continues. 3 can be estimated, and based on the estimated pitch inclination angle ⁇ 2, the posture of the main body 3 can be controlled so that the main body 3 converges to an equilibrium angle that does not collapse.
  • the pitch motor 6 is not limited to being provided for each pair of wheels 2, and one pitch motor 6 may be provided for each wheel 2.
  • the electric motor 9 may be provided for each of the one or a plurality of auxiliary wheels 8 instead of being provided at the connecting portion between the main body portion 3 and the support portion 7.
  • positioned in the front side ie, the structure by which the main-body part 3 is arrange

Landscapes

  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Handcart (AREA)
  • Rehabilitation Tools (AREA)

Abstract

L'invention concerne un chariot à main, qui peut déterminer l'angle d'inclinaison dans la direction de pas d'une section de corps principal à une haute précision. Le chariot à main comporte : une paire de roues ; une ou plusieurs sections d'entraînement qui entraînent la paire de roues en rotation ; une section de corps principal, sur un premier côté de laquelle la paire de roues est portée de façon rotative ; et une section de prise située sur l'autre côté de la section de corps principal. L'angle formé par la section de corps principal et une section de support est détecté et, sur la base de l'angle détecté, l'angle formé par la section de corps principal avec la direction verticale est déterminé. Le mouvement de la section de corps principal est commandé sur la base de l'angle déterminé.
PCT/JP2013/073095 2012-09-18 2013-08-29 Chariot à main WO2014045823A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2014531428A JP5704283B2 (ja) 2012-09-18 2013-08-29 手押し車

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2012-203953 2012-09-18
JP2012203953 2012-09-18

Publications (1)

Publication Number Publication Date
WO2014045823A1 true WO2014045823A1 (fr) 2014-03-27

Family

ID=50341145

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2013/073095 WO2014045823A1 (fr) 2012-09-18 2013-08-29 Chariot à main

Country Status (2)

Country Link
JP (1) JP5704283B2 (fr)
WO (1) WO2014045823A1 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012035076A (ja) * 2010-07-30 2012-02-23 Toyota Motor Engineering & Manufacturing North America Inc ロボット型ステッキ装置
WO2012114597A1 (fr) * 2011-02-23 2012-08-30 株式会社村田製作所 Déambulateur

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012035076A (ja) * 2010-07-30 2012-02-23 Toyota Motor Engineering & Manufacturing North America Inc ロボット型ステッキ装置
WO2012114597A1 (fr) * 2011-02-23 2012-08-30 株式会社村田製作所 Déambulateur

Also Published As

Publication number Publication date
JPWO2014045823A1 (ja) 2016-08-18
JP5704283B2 (ja) 2015-04-22

Similar Documents

Publication Publication Date Title
US10144478B2 (en) Pressure control steering
US9186992B2 (en) Walking assistance moving vehicle
EP2093100B1 (fr) Engrenage de roulement et son procédé de commande
JP5429427B2 (ja) 歩行補助車
US9604697B2 (en) Mobility vehicle and power-assisting system
EP2664528B1 (fr) Véhicule à pendule inversé
US8825254B2 (en) Inverted pendulum type vehicle, and control method of inverted pendulum type vehicle
WO2014188726A1 (fr) Dispositif électrique d'aide à la marche, programme de commande de dispositif électrique d'aide à la marche, et procédé de commande de dispositif électrique d'aide à la marche
JP6164300B2 (ja) 手押し車
JP2007106265A (ja) 走行装置及びその制御方法
JP2011500423A (ja) 車両の運動を制御するための装置および方法
US9845101B2 (en) Pushcart
WO2014045821A1 (fr) Chariot à main
US10052253B2 (en) Hand-propelled vehicle
JP6252683B2 (ja) 手押し車
JP5659710B2 (ja) 車両
JP5704283B2 (ja) 手押し車
JP5958546B2 (ja) 手押し車
JP2010119199A (ja) 移動体、及びその制御方法
JP2017035985A (ja) 手押し車
JP2013188304A (ja) 歩行支援機
JP2019043500A (ja) 倒立二輪車の旋回制御方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 13839315

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2014531428

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 13839315

Country of ref document: EP

Kind code of ref document: A1