JP2010068654A - Moving body and control method thereof - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a moving body having high operability and a control method thereof. <P>SOLUTION: According to one embodiment, this moving body 1 which moves in accordance with the shift of an occupant's weight includes: an occupant seat 8 having a seat surface in which the lower part of occupant's thigh is a space; a chassis 13 for supporting the occupant seat 8; wheels 6 for moving the chassis 13; a force sensor 9 for outputting a measured value corresponding to a force applied to the seat surface 8a of the occupant seat 8; and a control calculating section 51 for calculating a command value for driving the wheels 6 in accordance with the output from the force sensor 9. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a moving body and a control method thereof.

  In recent years, a moving body that moves in a state where a passenger is on board has been developed (Patent Documents 1 and 2). For example, in Patent Documents 1 to 3, a force sensor (pressure sensor) is provided on a boarding surface (seat surface) on which a passenger rides. The wheels are driven by the output from the force sensor. That is, input is performed by using the force sensor as an operation means.

  The moving body of Patent Document 1 moves by applying weight in the direction in which it wants to proceed. For example, when going forward, the passenger tilts his upper body forward. That is, the passenger is in a forward leaning posture. And if it becomes a leaning posture, the force added to a boarding seat will change. Then, this force and moment are detected by a force sensor. The spherical tire is driven by the detection result of the force sensor. In FIG. 14 of Patent Document 1, the inverted pendulum control is performed in a state where the passenger sits on the boarding seat. Patent Document 2 discloses a wheelchair-type moving body. This moving body is provided with a chair and a footrest.

  Further, Patent Document 3 discloses a moving body that actively detects a user's operation and operates autonomously in response thereto. For example, the center of gravity of the user is calculated by a plurality of pressure sensors. A wheelchair-shaped moving body operates according to the position of the center of gravity (FIG. 2).

  Further, Patent Document 4 discloses an interface device for operating a biped walking type moving body. This interface device has a chair shape. A plurality of force sensors are provided on the back surface and the seat surface of the chair. Four force sensors detect the pelvic turning of the passenger and estimate the intention to walk. And both legs are driven according to the will to walk estimated by the force sensor. The interface device is provided with a footrest.

JP 2006-282160 A Japanese Patent Laid-Open No. 10-23613 JP-A-11-198075 JP-A-7-136957

  In patent documents 1-3, it is moving according to the posture of the passenger actually boarding the moving body. Thereby, operation according to the environment which is actually moving is attained. For example, the passenger can perform an operation as follows. When he wants to move forward, the passenger moves his upper body forward. That is, the passenger is in a forward leaning posture. Then, the position of the center of gravity becomes forward, and the force applied to the force sensor changes. Thereby, the sensor detects the forward input. On the other hand, when the user wants to move backward, the occupant is tilted backward. Then, the position of the center of gravity becomes backward, and a backward tilt input is detected. When moving left and right, the passenger moves the center of gravity in the left-right direction. Thereby, left and right turning inputs are detected. Thus, it can move according to the turning input, the forward input, and the backward input.

  However, the above moving body may not be able to move as intended by the passenger. For example, when a passenger sits on a passenger seat, the posture change of the passenger is restricted by the thigh of the passenger. Therefore, there is a problem that it is difficult for the passenger to lean forward and to input a high-speed forward input. For example, when the angle of the forward leaning posture is increased, the thigh will come into contact with the seating surface. For this reason, a collar part floats and the force given to a sensor will be lost. Therefore, the forward speed is slower than the speed intended by the passenger. Thus, the conventional mobile body has a problem that it cannot move as the passenger intends and the operability cannot be improved.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a moving body having high operability and a control method thereof.

  The moving body according to the first aspect of the present invention is a moving body that moves in accordance with the weight shift of the occupant, and a boarding seat having a seating surface in which the lower part of the thigh of the occupant is a space; A main body that supports the boarding seat; a moving mechanism that moves the main body; a sensor that outputs a measurement value according to a force applied to a seating surface of the passenger seat; and an output from the sensor, And a control calculation unit that calculates a command value for driving the moving mechanism. Thereby, a force can be effectively applied to the force sensor, and a forward movement at a high speed becomes possible. Therefore, it can move as the passenger intends and operability can be improved.

  A mobile body according to a second aspect of the present invention is the mobile body described above, wherein the boarding seat has a support bar extending forward between the thighs of the passenger. Is. Thereby, riding comfort can be improved.

  The moving body according to the third aspect of the present invention is a moving body that moves in accordance with the weight shift of the occupant, and the cushioning property below the thigh of the occupant is more than the cushioning property below the buttocks. A boarding seat having a higher seating surface, a moving mechanism for moving the main body, a sensor for outputting a measurement value corresponding to a force applied to the seating surface of the boarding seat, and an output from the sensor And a control calculation unit for calculating a command value for driving the moving mechanism. Thereby, a force can be effectively applied to the force sensor, and a forward movement at a high speed becomes possible. Therefore, it can move as the passenger intends and operability can be improved.

  A moving body according to a fourth aspect of the present invention is the moving body described above, and a lower part of the passenger's buttocks is formed of a hard material. Thereby, force can be effectively applied to the force sensor, and operability can be improved.

  A moving body according to a fifth aspect of the present invention is a moving body that moves in accordance with a weight shift of a passenger, a boarding seat on which the passenger boards, a main body that supports the boarding seat, A moving mechanism that moves the main body, a footrest that is attached to the main body and is displaced with respect to the passenger seat, a sensor that outputs a measurement value according to the force applied to the seating surface of the passenger seat, and the sensor And a control calculation unit for calculating a command value for driving the moving mechanism in accordance with the output of. Thereby, a force can be effectively applied to the force sensor, and a forward movement at a high speed becomes possible. Therefore, it can move as the passenger intends and operability can be improved.

  A mobile body according to a sixth aspect of the present invention is the mobile body described above, wherein the footrest is displaced by an elastic body. Thereby, operability can be improved with a simple configuration.

  A mobile body according to a seventh aspect of the present invention is the mobile body described above, wherein the footrest is displaced by an actuator. Thereby, force can be reliably given with respect to a force sensor.

  A movable body according to an eighth aspect of the present invention is the movable body described above, wherein the control calculation unit controls the actuator according to a moment around the pitch axis applied to the seating surface. It is.

  A mobile body control method according to a ninth aspect of the present invention includes a boarding seat on which a passenger gets on, a main body that supports the boarding seat, a footrest attached to the main body, and the boarding of the footrest. An actuator for displacing with respect to the seat, and a method for controlling a moving body that moves according to the weight shift of the occupant, the step of outputting a measurement value according to the force applied to the seating surface of the passenger seat And controlling the actuator according to the measured value. Thereby, a force can be effectively applied to the force sensor, and a forward movement at a high speed becomes possible. Therefore, it can move as the passenger intends and operability can be improved.

  ADVANTAGE OF THE INVENTION According to this invention, the moving body which has high operativity, and its control method can be provided.

Embodiment 1 FIG.
An overall configuration of a moving body 1 according to the present invention and a basic control method thereof will be described with reference to the drawings. First, the whole structure of the moving body 1 is demonstrated using FIG. 1, FIG. FIG. 1 is a front view schematically showing the configuration of the moving body 1, and FIG. 2 is a side view schematically showing the configuration of the moving body 1. 1 and 2 show an XYZ orthogonal coordinate system. The Y axis indicates the left-right direction of the moving body 1, the X axis indicates the front-rear direction of the moving body 1, and the Z axis indicates the vertical direction. Therefore, the X axis corresponds to the roll axis, the Y axis becomes the pitch axis, and the Z axis becomes the yaw axis. In FIG. 1 and FIG.

  As shown in FIG. 1, the moving body 1 has a riding section 3 and a chassis 13. The chassis 13 is a main body of the moving body 1 and supports the riding section 3. The chassis 13 includes wheels 6, a footrest 10, a housing 11, a control calculation unit 51, a battery 52, and the like. The wheel 6 includes a front wheel 601 and a rear wheel 602. Here, a three-wheeled moving body 1 composed of one front wheel 601 and two rear wheels 602 will be described.

  The boarding unit 3 includes a boarding seat 8 and a force sensor 9. And the upper surface of the boarding seat 8 becomes the seat surface 8a. That is, the moving body 1 moves on the seat surface 8a in a state where the passenger is on the seat surface 8a. The seating surface 8a may be a flat surface or may have a shape that matches the shape of the collar. Further, a backrest may be provided on the boarding seat 8. In order to improve riding comfort, the passenger seat 8 may be cushioned. When the moving body 1 is on a horizontal plane, the seating surface 8a is horizontal. The force sensor 9 detects the weight shift of the passenger. That is, the force sensor 9 detects the force applied to the seat surface 8 a of the passenger seat 8. The force sensor 9 outputs a measurement signal corresponding to the force applied to the seating surface 8a. The force sensor 9 is disposed below the passenger seat 8. That is, the force sensor 9 is disposed between the chassis 13 and the passenger seat 8.

As the force sensor 9, for example, a 6-axis force sensor can be used. In this case, as shown in FIG. 3, the translational forces (SFx, SFy, SFz) in the three-axis directions and the moments (SMx, SMy, SMz) around each axis are measured. These translational forces and moments are values with the center of the force sensor 9 as the origin. If the measurement signals output to the sensor processing unit of the moving body 1 are moments (Mx, My, Mz) and the control coordinate origins of those moments are (a, b, c) shown in FIG. Can be expressed as follows.
Mx = SMx + c · SFy−b · SFz
My = SMy + a · SFz−c · SFx
Mz = SMz + b.SFx-a.SFy
FIG. 3 is a diagram for explaining each axis. Any force sensor 9 that can measure moments (Mx, My, Mz) may be used. A triaxial force sensor that can measure moments (SMx, SMy, SMz) around each axis may be arranged at the control coordinate origin, and Mx, My, Mz may be directly measured. Three uniaxial force sensors may be provided. Furthermore, an analog joystick using a strain gauge or a potentiometer may be used. That is, it is only necessary to be able to measure moments around three axes directly or indirectly. The force sensor 9 outputs three moments (Mx, My, Mz) as measurement signals.

  The chassis 13 serving as the main body portion of the moving body 1 is provided with wheels 6, a footrest 10, a housing 11, a control calculation unit 51, a battery 52, and the like. The housing 11 has a box shape, and the front lower side protrudes. And the footrest 10 is arrange | positioned on this protruding part. The footrest 10 is provided on the front side of the passenger seat 8. Therefore, in the state where the passenger has boarded the boarding seat 8, both feet of the passenger are placed on the footrest 10.

  The housing 11 includes a drive motor 603, a control calculation unit 51, and a battery 52. The battery 52 supplies power to each electric device such as the drive motor 603, the control calculation unit 51, and the force sensor 9.

  Wheels 6 are rotatably attached to the housing 11. Here, three wheels 6 on the disk are provided. A part of the wheel 6 protrudes below the lower surface of the housing 11. Therefore, the wheel 6 is in contact with the floor surface. The two rear wheels 602 are provided at the rear part of the housing 11. The rear wheel 602 is a drive wheel and is rotated by a drive motor 603. That is, when the drive motor 603 is driven, the rear wheel 602 rotates around the axle. The rear wheels 602 are provided on both the left and right sides. The rear wheel 602 has a built-in encoder for reading its rotational speed. The axle of the left rear wheel 602 and the axle of the right rear wheel 602 are arranged on the same straight line.

  Further, the wheel 6 includes a front wheel 601. One front wheel 601 is provided at the center of the front portion of the housing 11. Accordingly, the front wheel 601 is disposed between the two rear wheels 602 in the Y direction. A passenger seat 8 is provided between the axle of the front wheel 601 and the axle of the rear wheel 602 in the X direction. The front wheel 601 is a driven wheel (auxiliary wheel), and rotates according to the movement of the moving body 1. That is, the front wheel 601 rotates according to the moving direction and speed by the rotation of the rear wheel 602. Thus, by providing the front wheel 601 that is an auxiliary wheel in front of the rear wheel 602, it is possible to prevent the vehicle from falling. The front wheel 601 is provided below the footrest 10.

  The control calculation unit 51 is an arithmetic processing unit having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a communication interface, and the like. The control calculation unit 51 includes a removable HDD, optical disk, magneto-optical disk, etc., stores various programs and control parameters, and supplies the programs and data to a memory (not shown) as necessary. To do. Of course, the control calculation unit 51 is not physically limited to one configuration. The control calculation unit 51 performs processing for controlling the operation of the drive motor 603 in accordance with the output from the force sensor 9.

  Next, a control system for moving the moving body 1 will be described with reference to FIG. FIG. 4 is a block diagram illustrating a configuration of a control system for moving the moving body 1. First, the force applied to the seating surface 8a is detected by the force sensor 9. Here, as described above, the force sensor 9 outputs moments Mx, My, and Mz that are measurement signals to the sensor processing unit 53. The sensor processing unit 53 processes the measurement signal from the force sensor 9. That is, arithmetic processing is performed on measurement data corresponding to the measurement signal output from the force sensor 9. Thereby, the input moment values (Mx ′, My ′, Mz ′) input to the control calculation unit 51 are calculated. The sensor processing unit 53 may be built in the force sensor 9 or may be built in the control calculation unit 51.

  In this way, the moments (Mx, My, Mz) measured by the force sensor 9 are converted into input moment values (Mx ′, My ′, Mz ′) around each axis. The input moment value becomes an input value that is input to operate each rear wheel 602. Thus, the sensor processing unit 53 calculates an input value for each axis. The magnitude of the input moment value is determined according to the magnitude of the moment. The sign of the input moment value is determined by the sign of the measured moment. That is, when the moment is positive, the input moment value is also positive, and when the moment is negative, the input moment value is also negative. For example, when the moment Mx is positive, the input moment value Mx ′ is also positive. Therefore, this input moment value becomes an input value corresponding to the operation intended by the passenger.

  The control calculation unit 51 performs control calculation based on the input moment value. Thereby, a command value for driving the drive motor 603 is calculated. Of course, the command value increases as the input moment value increases. This command value is output to the drive motor 603. In the present embodiment, since the left and right rear wheels 602 are drive wheels, two drive motors 603 are illustrated. Then, one drive motor 603 rotates the right rear wheel 602, and the other drive motor 603 rotates the left rear wheel 602. The drive motor 603 rotates the rear wheel 602 based on the command value. That is, the drive motor 603 gives a torque for rotating the rear wheel 602 that is a drive wheel. Of course, the drive motor 603 may give a rotational torque to the rear wheel 602 via a reduction gear or the like. For example, when a command torque is input as a command value from the control calculation unit 51, the drive motor 603 rotates with the command torque. Thereby, the rear wheel 602 rotates and the moving body 1 moves in a desired direction at a desired speed. Of course, the command value is not limited to torque, and may be a rotation speed or a rotation speed.

  Furthermore, each of the drive motors 603 includes an encoder 603a. The encoder 603a detects the rotational speed of the drive motor 603 and the like. Then, the detected rotation speed is input to the control calculation unit 51. The control calculation unit 51 performs feedback control based on the current rotation speed and the target rotation speed. For example, the command value is calculated by multiplying the difference between the target rotational speed and the current rotational speed by an appropriate feedback gain. Of course, the command values output to the left and right drive motors 603 may be different values. That is, when going straight forward or backward, the left and right rear wheels 602 are controlled to have the same rotational speed, and when turning left and right, the left and right rear wheels 602 have different rotational speeds in the same direction. Control to be. Further, when turning on the spot, the left and right rear wheels 602 are controlled to rotate in opposite directions.

  For example, when the occupant assumes a forward leaning posture, a force around the pitch axis is applied to the passenger seat 8. Then, the force sensor 9 detects a moment of + My (see FIG. 3). Based on this + My moment, the sensor processing unit 53 calculates an input moment value My ′ for translating the moving body 1. Similarly, the sensor processing unit 53 calculates an input moment value Mx ′ based on Mx, and calculates an input moment value Mz ′ based on Mz. That is, the sensor processing unit 53 converts the measurement value into an input moment value. These are calculated independently of each other. That is, Mx ′ is determined only by Mx, My ′ is determined only by My, and Mz ′ is determined only by Mz. Thus, Mx ′, My ′, and Mz ′ are independent of each other.

  The control calculation unit 51 calculates a command value based on the input moment value and the encoder reading. As a result, the left and right rear wheels 602 rotate at a desired rotational speed. Similarly, when turning rightward, the passenger moves weight to the right. Thereby, a force around the roll axis is applied to the passenger seat, and the force sensor 9 detects a moment of + Mx. Based on this + Mx moment, the sensor processing unit 53 calculates an input moment value Mx ′ for turning the moving body 1 in the right direction. That is, the steering angle corresponding to the direction in which the moving body 1 moves is obtained. Then, the control calculation unit 51 calculates a command value according to the input moment value. Depending on this command value, the left and right rear wheels 602 rotate at different rotational speeds. That is, the left rear wheel 602 rotates at a higher rotational speed than the right rear wheel 602.

  In this way, a component for translational movement in the front-rear direction is obtained based on My ′. That is, the driving torque for driving the left and right rear wheels 602 in the same direction at the same rotational speed is determined. Therefore, the larger My ′, that is, My, the faster the moving speed of the moving body 1. Based on Mx ′, a component with respect to the moving direction, that is, the steering angle is obtained. That is, the rotational torque difference between the left and right rear wheels 602 is determined. Therefore, the difference in rotational speed between the left and right rear wheels 602 increases as Mx ′, that is, Mx increases.

  Based on Mz ', a component for in-situ turning is obtained. That is, a component for turning on the spot by rotating the left and right rear wheels 602 in the opposite direction is obtained. Therefore, the larger Mz ′, that is, Mz, the greater the rotational speed in the opposite direction of the left and right rear wheels 602. For example, when Mz ′ is positive, a driving torque for turning in the counterclockwise direction as viewed from above is calculated. That is, the right rear wheel 602 rotates forward and the left rear wheel 602 rotates rearward at the same rotational speed.

  Then, the three components calculated based on the respective input moment values Mx ′, My ′, and Mz ′ are combined to calculate a command value for driving the two rear wheels 602. Thereby, the command values for the left and right rear wheels 602 are respectively calculated. Driving torque, rotation speed, etc. are calculated as command values. That is, the command value for the left and right rear wheels 602 is calculated by combining the values calculated for each component corresponding to the input moment values Mx ′, My ′, and Mz ′. Thus, the moving body 1 moves by the input moment values Mx ′, My ′, Mz ′ calculated based on the measured moments Mx, My, Mz. That is, the moving direction and moving speed of the moving body 1 are determined by the moments Mx, My, Mz due to the weight movement of the passenger.

  Thus, the input for moving the mobile body 1 is performed by the operation of the passenger. That is, a moment around each axis is detected by a change in the posture of the passenger. Based on the measured values of these moments, the moving body 1 moves. Thereby, the passenger can operate the moving body 1 simply. That is, operations such as a joystick and a handle are not necessary, and an operation can be performed only by weight shift. For example, if you want to move forward diagonally to the right, put your weight on the right front. Also, if you want to move diagonally to the left, put your weight on the left rear. As a result, the position of the center of gravity of the occupant changes, and input corresponding to the amount of change is performed. That is, an intuitive operation can be performed by detecting a moment corresponding to the movement of the center of gravity of the passenger. The control calculation unit 51 outputs a command value so as to move forward or backward in accordance with the sign of the input moment value at a moving speed corresponding to the absolute value of the input moment value.

  For example, as shown in FIG. 5, it is assumed that a passenger 71 is on boarding seat 8 provided with force sensor 9. FIG. 5 is a view showing a state in which a passenger 71 is in the boarding seat 8, and a side view is shown on the left side and a plan view of the seat surface 8 a is shown on the right side. In this case, the buttock 72 and the thigh 73 of the passenger 71 are in contact with the seat surface 8a. The speed of the moving body 1 is determined according to the tilt angle from the upper body neutral posture of the passenger 71. Therefore, the moving body 1 moves at a higher speed as the passenger tilts the upper body. For example, when the passenger 71 greatly tilts the upper body, the forward speed increases.

  In the seat surface 8a of the passenger seat 8 shown in FIG. 5, when the passenger tilts the upper body forward, the thigh 73 is restrained. That is, since the thigh 73 is restrained by the seating surface 8a, it is difficult to take the forward tilt posture. When the passenger 71 sits in the passenger seat 8, the passenger's 71 thigh restrains the passenger's posture change. Therefore, in the present embodiment, the boarding seat 3 having the shape shown in FIG. 6 is used.

  FIG. 6 is a plan view showing the configuration of the passenger seat 3. The boarding seat 8 has a rectangular seat surface 8a. Here, when viewed from above, the seating surface 8a is a rectangle having the long side in the Y direction. As a result, a space is created between the thigh 73 and the seat surface 8a below the thigh 73 of the passenger 71. That is, only the buttocks 72 are placed on the boarding seat 8. Thereby, even when the passenger 71 takes a forward leaning posture, the thigh 73 is not restrained. That is, the thigh 73 can be placed below the seating surface 8a, and the passenger 71 can freely take a forward leaning posture. For example, even when the forward leaning posture is taken, it is possible to prevent the collar portion 72 from separating from the seating surface 8a. Therefore, a force can be effectively applied to the force sensor 9 and a moment around the pitch axis can be input. As a result, the input moment value My ′ of the forward input can be increased, so that the forward movement can be performed at a high speed. Therefore, it can move as the passenger 71 intends and operability can be improved. In addition, in order to provide a space below the thigh 73 in the passenger seat 8, a recess may be provided in the seating surface 8a. For example, a groove wider than the thigh 73 may be formed in the passenger seat 8, and a gap may be provided below the thigh 73.

  In the above description, the seat surface 8a is described as being rectangular, but the shape of the seat surface 8a is not limited thereto. For example, the boarding seat 8 may be a saddle shape of a bicycle. That is, the boarding seat 8 should just have the seat surface 8a from which the lower part of the thigh 73 of the passenger 71 becomes a space. Thereby, forward input can be performed easily and operativity can be improved.

  Further, the shape of the passenger seat 8 can be as shown in FIG. In FIG. 7, a rod-like support bar 8 b is provided on the passenger seat 8. That is, the support bar 8b extends from the boarding seat 8 to the front. The support bar 8 b is provided between the thighs of the passenger 71. That is, the support bar 8b is provided at the center of the passenger seat 8 in the Y direction so as to be disposed between the left and right thighs 73. Thus, the boarding seat 8 is T-shaped when viewed from above. Accordingly, the occupant 71 can get on while the thigh 73 is not restrained. Thereby, since the fall angle of the forward leaning posture can be increased, a force can be efficiently applied to the force sensor 9. It is possible to move forward at high speed. Therefore, it can move as the passenger 71 intends and operability can be improved. Furthermore, since it has a shape close to a saddle of a bicycle, a sense of stability is enhanced and riding comfort can be improved.

Embodiment 2. FIG.
The moving body 1 according to the present embodiment will be described with reference to FIG. FIG. 8 is a diagram schematically showing the configuration of the passenger seat 8. A plan view of the seat surface 8a is shown on the left side of FIG. 8, and a side view of the passenger seat 8 is shown on the right side. In the present embodiment, only the shape of the passenger seat 8 is different from that in the first embodiment. Since the basic configuration of the moving body 1 other than the passenger seat 8 is the same as that of the first embodiment, the description thereof is omitted.

  In the present embodiment, a cushion portion 8 c is provided in front of the passenger seat 8. That is, in the X direction, a part of the front side of the center of the passenger seat 8 is the cushion portion 8c. Therefore, in this Embodiment, it becomes the structure by which the lower part of the thigh part 73 does not become space but the cushion part 8c is arrange | positioned. The cushion portion 8c has higher cushioning properties than other portions of the seating surface 8a. For example, the hard portion 8d is provided in a portion other than the cushion portion 8c. The hard portion 8d is formed of a hard material. That is, in the hard portion 8d, the space between the force sensor 9 and the seating surface 8a is composed only of a hard material. The cushion part 8c is softer than the hard part 8d.

  A collar portion 72 is placed on the hard portion 8d. The thigh 73 is placed on the cushion 8c. Therefore, the cushioning property of the lower part of the thigh 73 is higher than the cushioning property of the lower part of the buttocks 72. In the seating surface 8 a, the cushioning property below the thigh 73 is higher than the cushioning property below the heel 72. Thereby, the clearance gap between the seat surface 8a and the thigh 73 is filled, and the thigh 73 is urged | biased by the cushion part 8c. As described above, the material on the front side of the passenger seat 8 is higher in cushioning than the center portion.

  The cushion portion 8c is provided with an elastic body such as a spring, urethane resin, or low repulsion material. The cushion portion 8c is deformed in the vertical direction. Therefore, the cushion portion 8 c provided in front of the seat surface 8 a is deformed in accordance with the movement of the thigh 73. For example, when the occupant 71 assumes a forward leaning posture, the thigh 73 is displaced downward accordingly. Then, as shown in FIG. 8, the cushion portion 8 c contracts and a dent corresponding to the size of the thigh 73 is generated. The passenger 71 can take a forward leaning posture without the thigh 73 being restrained. The passenger 71 can freely take a forward leaning posture. Thereby, the input of the moment My can be increased with a slight change in posture. That is, the tilt angle of the forward tilt posture can be increased. For this reason, it is possible to move forward at high speed. Therefore, it can move as the passenger 71 intends and operability can be improved.

  Further, the portion on which the collar portion 72 is placed is provided with a hard portion 8d. A force sensor 9 is disposed immediately below the hard portion 8d. The force sensor 9 detects a force applied to the hard portion 8d. Thereby, the posture change of the passenger 71 can be reliably detected. That is, since the hard portion 8d is provided below the collar portion 72, the force due to the posture change of the passenger 71 is not absorbed. Therefore, the force generated by the posture change can be transmitted to the force sensor 9 without loss. With a slight change in posture, the value of the moment My around the pitch axis can be increased. As a result, the input moment value My ′ of the forward input can be increased, so that the forward movement can be performed at a high speed. Therefore, it can move as the passenger 71 intends and operability can be improved.

  Furthermore, the shape of the passenger seat 8 can be configured as shown in FIG. FIG. 9 is a plan view showing the configuration of the seating surface 8 a of the passenger seat 8. In the boarding seat 8 shown in FIG. 9, the cushion part 8c is ring-shaped. That is, the cushion portion 8c has a donut shape. And the hard part 8d is provided in the cushion part 8c. When the passenger 71 takes a forward leaning posture, the cushion portion 8c below the thigh 73 is deformed. Therefore, a force can be applied to the force sensor 9 effectively. Thereby, since the fall angle of the forward leaning posture can be increased, it is possible to move forward at high speed. Therefore, it can move as the passenger 71 intends and operability can be improved.

Embodiment 3 FIG.
The characteristic part of the moving body 1 according to the present embodiment is a footrest 10. Since the basic configuration of the moving body 1 other than the footrest 10 is the same as that shown in the first embodiment, the description thereof is omitted. Note that the shape of the passenger seat 8 of the moving body 1 according to the present embodiment is not particularly limited. For example, the boarding seat 8 shown in the first embodiment or the second embodiment may be used, or the normal boarding seat 8 shown in FIG. 5 may be used.

  The moving body according to the present embodiment will be described with reference to FIG. FIG. 10 is a side view schematically showing the configuration of the moving body 1. As shown in FIG. 10, the footrest 10 is attached to the chassis 13. The feet of the passenger 71 are put on the upper surface of the footrest 10. Further, the footrest 10 is provided with an elastic body 18. The elastic body 18 is a spring or the like, and its expansion / contraction direction is a vertical direction. Therefore, the position of the footrest 10 changes up and down. That is, the position of the footrest 10 with respect to the passenger seat 8 changes in the vertical direction. The upper surface of the footrest 10 changes to passive, and the position of the sole of the passenger 71 moves up and down. That is, the footrest 10 moves according to the posture change of the passenger 71.

  Thus, the footrest 10 is attached to the chassis 13 so as to be displaceable. When the elastic body 18 expands and contracts, the position of the footrest 10 with respect to the passenger seat 8 on the chassis 13 changes. For example, when the occupant 71 is tilted forward, the position of the sole is lowered. Therefore, the force applied to the footrest 10 from the sole is increased. Then, the elastic body 18 of the footrest 10 contracts, and both legs can be extended downward. As a result, the force applied to both legs can be reduced. A gap between the seat surface 8a and the leg is filled, and the thigh 73 can be pressed against the seat surface 8a.

  Thereby, it can prevent that the collar part 72 floats from the seat surface 8a. That is, it is possible to prevent the force from escaping from the sole to the footrest 10. A force can be applied to the force sensor 9 efficiently. That is, the amount of force generated by moving the body is reduced by the foot, and the force can be efficiently input to the force sensor 9 from the buttocks 72. Even with a slight change in posture, the input of the moment My can be increased. Therefore, even when the thigh 73 is restrained, the moment with respect to the forward input can be increased. Thereby, since the fall angle of the forward leaning posture can be increased, it is possible to move forward at high speed. Therefore, it can move as the passenger 71 intends and operability can be improved.

  In addition, in FIG. 10, although the footrest 10 displaced up and down was shown, you may use the footrest 10 displaced back and forth as shown in FIG. In this case, the expansion / contraction direction of the elastic body 18 is the front-rear direction. When the passenger 71 takes a forward leaning posture, the elastic body 18 extends and the position of the foot is displaced in the forward direction. As a result, both legs can be extended downward. As a result, the force applied to both legs can be reduced. A force can be applied to the force sensor 9 efficiently. That is, the amount of force generated by moving the body is reduced by the foot, and the force can be efficiently input to the force sensor 9 from the buttocks 72.

  By attaching the footrest 10 that can be displaced with respect to the passenger seat 8 to the chassis 13, the moment with respect to the forward input can be increased. Thereby, since the fall angle of the forward leaning posture can be increased, it is possible to move forward at high speed. Therefore, it can move as the passenger 71 intends and operability can be improved. Of course, the moving direction of the footrest 10 is not particularly limited. For example, the moving direction may be an oblique direction.

  Thus, it is set as the structure which the footrest 10 displaces passively. That is, the footrest 10 is provided to be displaceable with respect to the passenger seat 8. Thereby, control as intended can be performed without complicating the configuration of the moving body 1. In addition, when the passenger | crew 71 takes a back leaning attitude | position, the force added to the footrest 10 from a sole becomes weak. Therefore, the footrest 10 stops at a reference position.

  Moreover, although the footrest mechanism displaced passively was demonstrated in FIG. 10, FIG. 11, you may displace a footrest mechanism actively. Here, the structure which actively displaces the footrest 10 is demonstrated using FIG. FIG. 12 is a side view schematically showing the configuration of the moving body 1. FIG. 12 shows an example in which the footrest 10 is displaced up and down.

  An actuator 19 is disposed below the footrest 10. The actuator 19 has a motor, a speed reducer, and the like, and drives the footrest 10. Furthermore, the footrest 10 is attached to a guide mechanism 17 provided along the vertical direction. By attaching the guide mechanism 17 to the chassis 13, the operation of the footrest 10 is guided and displaced in the vertical direction. That is, when the actuator 19 operates, the footrest 10 moves up and down along the guide mechanism 17.

  As the actuator 19 operates in this manner, the footrest 10 is displaced in the vertical direction. The position of the footrest 10 with respect to the boarding seat 8 changes. Then, as described above, the collar portion 72 can be prevented from floating from the seating surface 8a. That is, it is possible to prevent the force from escaping from the sole to the footrest 10. Similar to the configuration of FIG. 10, force can be applied to the force sensor 9 efficiently. Therefore, even when the thigh 73 is restrained, the moment with respect to the forward input can be increased. Thereby, since the fall angle of the forward leaning posture can be increased, it is possible to move forward at high speed. Therefore, it can move as the passenger 71 intends and operability can be improved.

Further, the operation direction of the actuator 19 is not limited to the vertical direction. For example, as shown in FIG. 13, the operation direction may be the front-rear direction. In FIG. 13, the guide mechanism 17 is disposed on the lower side of the footrest 10 so that the operation direction is the front-rear direction. And the guide mechanism 17 is arrange | positioned along the front-back direction. Thereby, the footrest 10 on the guide mechanism 17 is guided by the guide mechanism 17 and moves back and forth. Thereby, it can prevent that force escapes from the sole to the footrest 10 similarly to the structure of FIG. A force can be applied to the force sensor 9 efficiently. Therefore, even when the thigh 73 is restrained, the moment with respect to the forward input can be increased. Thereby, since the fall angle of the forward leaning posture can be increased, it is possible to move forward at high speed. Therefore, it can move as the passenger 71 intends and operability can be improved. Of course, the moving direction of the footrest 10 is not limited to the front-rear direction or the up-down direction. For example, the moving direction of the footrest 10 may be an oblique direction. Further, not only the footrest but also the seating surface 8a can be displaced in the vertical direction as shown in FIG. That is, the distance between the seat surface 8a and the footrest 10 is changed by actively operating the seat surface 8a. Therefore, the same effect as the operation of the footrest 10 can be obtained.

  Next, a control system for actively moving the footrest 10 using the actuator 19 will be described with reference to FIG. FIG. 15 is a block diagram showing a control system for displacing the footrest 10.

  A measurement value measured by the force sensor 9 is input to the control calculation unit 51. Here, the moment My around the pitch axis measured by the force sensor 9 is input to the control calculation unit 51 as a measured value. The control calculation unit 51 calculates the drive amount of the actuator 19 based on the moment My around the pitch axis. Then, the control calculation unit 51 outputs a command value corresponding to the drive amount to the actuator 19. Thereby, the actuator 19 is driven and the footrest 10 changes to a predetermined position. That is, the footrest 10 is displaced to a position corresponding to the moment My.

  In this way, the control calculation unit 51 controls the actuator 19 according to the moment My around the pitch axis measured by the force sensor 9. Thereby, the footrest 10 can be reliably moved to a position corresponding to the force applied to the force sensor 9. That is, the footrest 10 can be moved to an ideal position. Therefore, the force intended by the passenger 71 can be reliably applied to the force sensor 9. Therefore, even when the thigh 73 is restrained, the moment with respect to the forward input can be increased. Thereby, since the fall angle of the forward leaning posture can be increased, it is possible to move forward at high speed. Therefore, it can move as the passenger 71 intends and operability can be improved.

  The present invention is not limited to the wheel-type moving body 1 but can be applied to a walking-type moving body. Or the moving body 1 using an omnidirectional wheel etc. may be sufficient. That is, it is only necessary that a moving mechanism for moving the main body such as the chassis 13 with respect to the floor surface is provided. Furthermore, you may use combining each embodiment suitably. For example, the first embodiment and the third embodiment may be combined, or the second embodiment and the third embodiment may be combined.

It is a front view which shows typically the whole structure of the moving body concerning this invention. It is a side view which shows typically the whole moving body concerning this invention. It is a figure for demonstrating the operation | movement around each axis | shaft. It is a block diagram which shows the control system for moving a moving body. It is a figure which shows the structure of the boarding seat of a moving body. It is a figure which shows the structure of the boarding seat used for the mobile body concerning Embodiment 1. FIG. FIG. 6 is a plan view showing another configuration of the passenger seat used in the moving body according to the first embodiment. It is a figure which shows the structure of the boarding seat used for the mobile body concerning Embodiment 2. FIG. It is a top view which shows another structure of the boarding seat used for the mobile body concerning Embodiment 2. FIG. FIG. 10 is a side view schematically showing a configuration of a footrest used for a moving body in a third embodiment. It is a side view which shows typically another structure of the footrest used for the moving body in Embodiment 3. It is a side view which shows typically another structure of the footrest used for the moving body in Embodiment 3. It is a side view which shows typically another structure of the footrest used for the moving body in Embodiment 3. It is a side view which shows typically the example which displaces a seat surface. FIG. 10 is a block diagram showing a footrest control system used for a moving body in a third embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Mobile body 2 Frame part 3 Riding part 6 Wheel 601 Front wheel 602 Rear wheel 603 Drive motor 603a Encoder 8 Boarding seat 8a Seat surface 8b Support bar 8c Cushion part 8d Hard part 9 Force sensor 10 Footrest 11 Housing 13 Chassis 17 Guide mechanism 18 Elastic body 19 Actuator

Claims (9)

A moving body that moves according to the weight shift of the passenger,
A boarding seat having a seating surface in which the lower part of the thigh of the passenger is a space;
A main body for supporting the boarding seat;
A moving mechanism for moving the main body,
A sensor that outputs a measurement value according to the force applied to the seating surface of the passenger seat;
And a control calculation unit that calculates a command value for driving the moving mechanism in accordance with an output from the sensor.   The moving body according to claim 1, wherein the boarding seat has a support bar extending forward between the thighs of the occupant. A moving body that moves according to the weight shift of the passenger,
A passenger seat having a seating surface in which the cushioning property under the thigh of the passenger is higher than the cushioning property under the buttocks;
A moving mechanism for moving the main body,
A sensor that outputs a measurement value according to the force applied to the seating surface of the passenger seat;
And a control calculation unit that calculates a command value for driving the moving mechanism in accordance with an output from the sensor.   The moving body according to claim 3, wherein a lower part of the passenger's buttocks is formed of a hard material. A moving body that moves according to the weight shift of the passenger,
A boarding seat on which the passenger is boarded;
A main body for supporting the boarding seat;
A moving mechanism for moving the main body,
A footrest attached to the main body and displaced with respect to the passenger seat;
A sensor that outputs a measurement value according to the force applied to the seating surface of the passenger seat;
And a control calculation unit that calculates a command value for driving the moving mechanism in accordance with an output from the sensor.   The moving body according to claim 5, wherein the footrest is displaced by an elastic body.   The moving body according to claim 5, wherein the footrest is displaced by an actuator.   The moving body according to claim 7, wherein the control calculation unit controls the actuator according to a moment around a pitch axis applied to the seating surface. The boarding seat where the passenger boarded,
A main body for supporting the boarding seat;
A footrest attached to the main body,
An actuator for displacing the footrest with respect to the passenger seat, and a method for controlling a moving body that moves according to the weight shift of the passenger,
Outputting a measurement value according to the force applied to the seating surface of the passenger seat;
And a step of controlling the actuator according to the measured value.

Images