JP6582916B2 - Inverted two-wheeled vehicle - Google Patents

Description

  The present invention relates to an inverted two-wheeled mobile body, and more particularly to an inverted two-wheeled mobile body used for training a passenger's sense of balance.

  Since the inverted two-wheeled mobile body is a structurally unstable vehicle, if the occupant performs a rough operation, the motor output is insufficient and the risk of falling is high. For this reason, it is common to avoid overturning by increasing the output performance of the motor, but even if the output performance is increased, it is difficult to suppress all overturns.

  In addition, in such an inverted two-wheeled mobile body, it is difficult to sense the limit of the motor output performance only by the occupant's sensitivity, so the occupant falls over by operating more than the limit output without noticing it. There were many cases where this occurred.

  Moreover, when using an inverted two-wheeled mobile body for a passenger | crew's rehabilitation, it is common that a fall avoidance is left to an assistant. However, since the assistant has no way of knowing the limit output of the motor, the motor should have specifications that can prevent the fall for every possible use case, or the body can be smashed when it falls with a lifting device. There was no effective means other than avoiding dangers such as doing.

  Patent Document 1 discloses a technique for notifying that the limit value is reached by an alarm sound or the like when the moving speed of the inverted two-wheeled moving body is equal to or higher than the limit value.

  Patent Document 2 discloses a technology that issues a warning when the traveling speed of an inverted two-wheeled moving body exceeds a predetermined speed when the angular speed of tilting the handle is in a positive direction.

JP 2012-240484 A JP2013-144511A

  With the technique disclosed in Patent Document 1 or 2, it is possible to warn the passenger and the assistant that the inverted two-wheeled mobile body is in a state of being easily overturned. However, the performance leading to the actual overturn is determined by the output (W) of the motor. For this reason, in the method disclosed in Patent Document 1 or 2 that issues a warning only by the speed or the tilt of the steering wheel, the deviation from the limit output of the actual motor is severe, and the fall cannot be avoided at the time when the warning is generated. There was a problem that sometimes.

  Further, in a system using a battery, the limit performance changes sequentially depending on the remaining battery level and temperature. For this reason, in the configuration in which the limit performance is set in advance, the limit performance must be set assuming the worst condition, and there is a problem that the motor performance cannot be maximized.

  Furthermore, there has been a problem that it is difficult to grasp how close a fall is by simply presenting the presence or absence of a warning digitally.

  The present invention has been made in order to solve such a problem, and the degree to which the traveling state of an inverted two-wheeled mobile body driven by a motor whose limit performance changes successively changes to how much the vehicle falls over. It is an object to provide an inverted two-wheeled mobile body that can be grasped by an assistant.

  An aspect of the present invention for achieving the above object is that an inverted two-wheeled mobile body that operates in accordance with the movement of the center of gravity of the occupant has a motor for driving wheels, and a detection means for detecting the state of the motor, Calculated by motor output deriving means for deriving the output of the motor based on the detection result of the detecting means, limit output calculating means for calculating a limit output at which the output of the motor is saturated, and the limit output calculating means A ratio calculating means for calculating a ratio of the motor output derived by the motor output deriving means with respect to a limit output; a time change amount of the motor output ratio; a time change amount of the motor output; a state of the occupant; A corrector that determines whether or not the correction of the ratio is necessary according to any of the estimation results of the operation intention of the occupant, and corrects the ratio when it is determined that it is necessary. When the ratio output from the correction means, the display, those with sound, light, and the informing means for informing the periphery by representing by at least one of vibration, the. According to this aspect, the inverted two-wheeled mobile body can make the passenger or assistant know how close the running state of the inverted two-wheeled mobile body driven by the motor whose limit performance sequentially changes is toppling. Can be provided.

  According to the present invention, an inverted two-wheeled mobile body that allows a passenger or an assistant to know how close the running state of the inverted two-wheeled mobile body driven by a motor whose limit performance changes sequentially is toppling. Can be provided.

It is a perspective view which shows schematic structure of the inverted two-wheeled mobile body concerning Embodiment 1 of this invention. 1 is a block diagram showing a schematic system configuration of an inverted two-wheeled mobile body according to a first exemplary embodiment of the present invention. It is a figure explaining the limit output in which the output of the motor concerning Embodiment 1 of this invention is saturated. It is a figure explaining the output of the motor concerning Embodiment 1 of this invention. It is a figure explaining the calculation method of the ratio of the motor output concerning Embodiment 1 of this invention. It is a figure which shows the example of a display of alerting | reporting operation | movement concerning Embodiment 1 of this invention. It is a graph explaining the example which performs the alerting | reporting operation | movement concerning Embodiment 1 of this invention with a sound. It is a graph explaining the example which performs alerting | reporting operation | movement concerning Embodiment 1 of this invention with light. It is a flowchart which shows the process of the inverted two-wheeled mobile body concerning Embodiment 1 of this invention. It is a block diagram which shows the schematic system configuration | structure of the inverted two-wheeled mobile body concerning Embodiment 2 of this invention. It is a flowchart which shows the process of the inverted two-wheeled mobile body concerning Embodiment 2 of this invention.

Embodiment 1
Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view showing a schematic configuration of an inverted two-wheeled moving body according to a first embodiment of the present invention. The inverted two-wheeled mobile body 100 according to the first embodiment is configured as a coaxial two-wheeled vehicle capable of traveling forward and backward, turning left and right, and accelerating / decelerating in accordance with the movement of the center of gravity of the passenger while maintaining the inverted state. Has been. The inverted two-wheel moving body 100 includes a vehicle main body 1, a pair of left and right wheels 2R and 2L rotatably connected to the vehicle main body 1, an operation handle 3 provided on the vehicle main body 1 so as to be operable, and a vehicle main body 1 And a pair of left and right step portions 4R, 4L on which a passenger can board.

  By tilting the operation handle 3 in the front-rear direction, the inverted two-wheeled moving body 100 is moved forward or backward, and by tilting in the roll direction (left-right direction), the turning operation of the inverted two-wheeled moving body 100 is performed. An operation unit to be executed.

  The vehicle body 1 supports the operation handle 3 so as to be rotatable in the roll direction. The pair of wheels 2R, 2L are coaxially arranged on both sides in the direction orthogonal to the traveling direction of the vehicle body 1 and are rotatably supported by the vehicle body 1.

  On the upper surface of the vehicle body 1, a pair of step portions 4 </ b> R and 4 </ b> L are provided on the left and right sides of the operation handle 3. Each step part 4R, 4L is a step in which a passenger gets on one foot.

  The vehicle body 1 is, for example, a vehicle body upper member and a vehicle body lower member that are arranged vertically in parallel with each other, and are arranged on the left and right in parallel with each other and rotatably connected to the vehicle body upper member and the vehicle body lower member. A parallel link mechanism having a pair of side members. The above-described configuration of the inverted two-wheeled mobile body 100 is merely an example, and is not limited thereto. For example, a configuration without the operation handle 3 may be used, and the vehicle travels according to the center of gravity movement of the occupant while maintaining the inverted state. It can be applied to any moving body.

  Next, a schematic system configuration of the inverted two-wheeled moving body according to the first exemplary embodiment of the present invention will be described using the block diagram of FIG. The inverted two-wheeled mobile body 100 according to the first embodiment includes a control device 5, a pair of left and right drive circuits 6R and 6L, a pair of left and right motors 7R and 7L, a detection unit 8, a battery 9, and a notification unit. 10.

  The drive circuits 6R and 6L are circuits that drive the motors 7R and 7L, respectively. The motors 7R and 7L are motors that independently drive the wheels 2R and 2L, respectively.

  The detector 8 detects the states of the motors 7R and 7L. The detection unit 8 detects the rotational speeds and torque values of the motors 7R and 7L as the states of the motors 7R and 7L. The number of rotations of the motors 7R and 7L is detected using, for example, a pair of rotation angle sensors provided for each of the motors 7R and 7L. The torque values of the motors 7R and 7L are detected using, for example, a pair of torque sensors provided for the motors 7R and 7L. In addition, you may perform the detection of the rotation speed and torque value of motor 7R and 7L by what kind of method. For example, the torque value may be derived from the phase current value of the motor and the torque constant. Then, the detection unit 8 outputs the detected rotation speed and torque value of the motor to the control device 5.

  The battery 9 supplies power to the control device 5, the drive circuits 6R and 6L, other electronic devices, electric devices, and the like. As the battery 9, for example, a lithium ion battery is used.

  The notification unit 10 performs a notification operation to the surroundings in response to an instruction from the control device 5. The alerting | reporting part 10 is explained in full detail later using FIGS.

  Next, the control device 5 will be described. The control device 5 includes a limit output calculation unit 11, a motor output derivation unit 12, a ratio calculation unit 13, a time change amount calculation unit 14, and a correction unit 15.

  The limit output calculation unit 11 acquires battery information. Here, the battery information is the remaining amount, temperature, deterioration degree, etc. of the battery 9. The remaining amount and temperature of the battery 9 can be acquired by using a battery voltmeter and a thermometer, respectively. Further, the degree of deterioration of the battery 9 can be derived, for example, by a value obtained by dividing the current amount of power when the battery 9 is fully charged by the amount of full charge when the battery 9 is not deteriorated.

  Moreover, the limit output calculation part 11 calculates the limit output in which the output of a motor is saturated using the acquired battery information. Then, the limit output calculation unit 11 outputs the calculated limit output to the ratio calculation unit 13.

  Here, the limit output will be described with reference to FIG. As shown in FIG. 3, the limit output is expressed on a TN diagram with the vertical axis representing the torque value and the horizontal axis representing the rotational speed. In the TN diagram, an area in the first quadrant (rotation speed> 0 and torque value> 0) indicates a power running area in the forward direction of the inverted two-wheeled mobile body 100, and an area in the second quadrant (rotation speed). <0 and torque value> 0) indicates a regenerative region in the reverse direction of the inverted two-wheeled moving body 100. An area in the third quadrant (rotation speed <0 and torque value <0) indicates a power running area in the reverse direction of the inverted two-wheeled mobile body 100, and an area in the fourth quadrant (rotation speed> 0 and Torque value <0) indicates the regenerative region in the forward direction of the inverted two-wheeled moving body 100.

 The limit output calculation unit 11 reduces the limit output range as the remaining amount of the battery 9 decreases. Further, the limit output calculation unit 11 reduces the limit output range as the temperature of the battery 9 decreases. Further, the limit output calculation unit 11 reduces the limit output range as the battery 9 is further deteriorated.

  Moreover, the limit output calculation part 11 may set a limit output according to the voltage input into a system. Further, the value of the limit output may be expressed on a TN diagram as shown in FIG. 3, or may be simply output (W).

  Next, the motor output deriving unit 12 will be described. The motor output deriving unit 12 receives the rotation speed and torque value of the motor from the detection unit 8. The motor output deriving unit 12 derives the motor output based on the received motor rotation speed and torque value. Then, the motor output deriving unit 12 outputs the derived motor output to the ratio calculating unit 13.

  Here, the output of the motor will be described with reference to FIG. As shown in FIG. 4, the motor output can be represented graphically by plotting the motor rotation speed and torque value on a TN diagram with the vertical axis representing the torque value and the horizontal axis representing the rotation speed. it can.

  The motor output deriving unit 12 may derive the output of the motor by calculating the output (W) by multiplying the received motor rotation speed (rad / sec) and torque value (Nm). .

  Next, the ratio calculation unit 13 will be described. The ratio calculation unit 13 receives the limit output from the limit output calculation unit 11. The ratio calculation unit 13 receives the motor output from the motor output deriving unit 12. Further, the ratio calculation unit 13 calculates the ratio of the received motor output to the received limit output. Then, the ratio calculation unit 13 outputs the calculated motor output ratio to the time change amount calculation unit 14 and the correction unit 15. The ratio calculation unit 13 may output the motor output received from the motor output deriving unit 12 to the time change amount calculation unit 14 instead of the calculated motor output ratio.

  Here, a method of calculating the motor output ratio will be described with reference to FIG. FIG. 5 shows the limit output calculated by the limit output calculation unit 11 and the motor output derived by the motor output deriving unit 12. In the example of FIG. 5, it is assumed that the motor output of the inverted two-wheeled moving body 100 is changed in the order of A, B, and C by the operation of the passenger. The ratio calculation unit 13 calculates the ratio of the motor output by one of the following three methods.

  The first method is a method of calculating the distance to the normal line and the limit output at each point and deriving the ratio. For example, the output ratio at point B is calculated by (X−c) / X. Here, c is the distance between the normal line at point B and the limit output. X is arbitrary and may be the longest distance within the limit output range.

  The second method is a method of calculating the distance from the center point to the current output and deriving the ratio with respect to the distance from the center point to the limit output. For example, the output ratio at point A is calculated by b / a. Here, a is the distance from the center point to the limit output, and b is the distance from the center point to the current output.

  The third method is a method of deriving the ratio of both the limit output and the current output when they are handled as the output (W). In this case, the output ratio is calculated by the current output / limit output.

  Next, the time change amount calculation unit 14 will be described. The time change amount calculation unit 14 receives the ratio of the motor output from the rate calculation unit 13. Further, the time change amount calculation unit 14 calculates the time change amount of the received output ratio. Then, the time change amount calculation unit 14 outputs the calculated time change amount to the correction unit 15.

  The time change amount calculation unit 14 calculates the time change amount of the motor output when the motor output is received from the rate calculation unit 13 instead of the motor output rate. In this case, the amount of time change may be calculated based on the amount of movement on the TN diagram or the amount of change in output (W). For example, time integration of the movement amount on the TN diagram or the change amount of the output (W) may be used.

  The correction unit 15 receives the calculated time change amount from the time change amount calculation unit 14. Further, the correction unit 15 receives the output ratio of the motor from the ratio calculation unit 13. Further, the correction unit 15 determines whether or not the output ratio needs to be corrected according to the received time change amount, and corrects the output ratio when it is determined that it is necessary.

  For example, the correction unit 15 corrects the output ratio to a large value when the amount of time change is larger than the first predetermined value. The correction unit 15 corrects the output ratio to a small value when the amount of time change is smaller than a second predetermined value that is smaller than the first predetermined value. Further, the correction unit 15 does not correct the output ratio when the time change amount is not less than the second predetermined value and not more than the first predetermined value.

  The correction amount may be a constant ratio, a constant numerical value, or may be changed continuously. For example, the output ratio of 70% is increased to 80% when the time change amount is larger than the first predetermined value, and is reduced to 60% when the time change amount is smaller than the second predetermined value.

  And the correction | amendment part 15 outputs the output ratio after correction | amendment to the alerting | reporting part 10, when correct | amending. Moreover, the correction | amendment part 15 outputs the output ratio received from the ratio calculation part 13 to the alerting | reporting part 10, when not correct | amending.

  Next, the notification operation of the notification unit 10 will be described with reference to FIGS. The notification unit 10 receives the motor output ratio from the correction unit 15 and performs a notification operation on the ratio. The notification unit 10 performs a notification operation to the surroundings by at least one of display, sound, light, and vibration.

  FIG. 6 is a diagram for explaining an example in which the notification operation is performed by display. The notification unit 10 performs a notification operation using a meter. In this case, the motor output ratio is visually presented by a meter as shown in FIG. Note that the meter may be provided anywhere as long as it is visible to the passenger and the assistant.

  FIG. 7 is a diagram for explaining an example in which the notification operation is performed by sound. The notification unit 10 performs a notification operation with a buzzer. In this case, the motor output ratio is presented by changing at least one of the sound pressure and the timbre as shown in FIG.

  FIG. 8 is a diagram for explaining an example in which the notification operation is performed using light. The notification unit 10 performs a notification operation using an indicator lamp. In this case, the motor output ratio is presented by changing at least one of luminance and color as shown in FIG. The indicator lamp may be provided anywhere as long as it can be visually recognized by the passenger or the assistant.

  Next, processing of the inverted two-wheeled mobile body according to the first exemplary embodiment of the present invention will be described using the flowchart of FIG.

  First, the inverted two-wheeled mobile body 100 acquires the torque values and rotation speeds of the motors 7R and 7L (S101). Next, the inverted two-wheeled moving body 100 derives the motor output using the acquired torque values and rotation speeds of the motors 7R and 7L (S102).

  Further, the inverted two-wheeled mobile body 100 performs S101 and acquires the temperature, remaining amount, and deterioration level of the battery 9 (S103). Next, the inverted two-wheeled moving body 100 calculates the limit output of the motor using the acquired temperature, remaining amount, and degree of deterioration of the battery 9 (S104).

  Next, the inverted two-wheeled mobile body 100 calculates the ratio of the motor output derived in S102 to the limit output of the motor calculated in S104 (S105).

  Next, the inverted two-wheeled moving body 100 calculates the amount of time change of the motor output (S106). The time change amount may be calculated using any of the motor output ratio calculated in S105 and the motor output derived in S102.

  Next, the inverted two-wheeled moving body 100 determines whether or not the amount of time change calculated in S106 is smaller than a second predetermined value (S107). If it is determined in S107 that the amount of time change is smaller than the second predetermined value, the output ratio calculated in S105 is corrected to be small (S108). Then, the inverted two-wheeled mobile body 100 presents the corrected output ratio by at least one of meter, sound, light, and vibration (S111), and returns to S101 and S103.

  On the other hand, when it is determined in S107 that the time change amount is not smaller than the second predetermined value, it is determined whether or not the time change amount is larger than the first predetermined value larger than the second predetermined value ( S109). When it is determined in S109 that the amount of time change is larger than the first predetermined value, the output ratio calculated in S105 is largely corrected (S110). Then, the inverted two-wheeled mobile body 100 presents the corrected output ratio by at least one of meter, sound, light, and vibration (S111), and returns to S101 and S103.

  On the other hand, when it is determined in S109 that the amount of time change is not larger than the first predetermined value, the output ratio calculated in S105 is presented by at least one of meter, sound, light, and vibration without performing correction. (S111), and return to S101 and S103.

  Note that although FIG. 9 illustrates an example in which S109 is performed after S107, S107 may be performed after S109.

  As described above, the inverted two-wheeled moving body according to the first embodiment of the present invention is configured to calculate the limit output at which the motor output is saturated. The ratio of the current motor output with respect to the calculated limit output of the motor is configured to be notified to the occupant and the assistant by display and sound. That is, it is possible to make the passenger or assistant know how close the running state of the inverted two-wheeled mobile body driven by the motor whose limit performance changes sequentially is toppling. For this reason, a passenger or an assistant can board or assist while grasping how close the traveling state of the inverted two-wheeled mobile body is to a fall.

  Further, in the inverted two-wheeled mobile body according to the first exemplary embodiment of the present invention, when the time change amount of the motor output or the time change amount of the motor output ratio is larger than the first predetermined value, the output ratio is increased. If the output ratio is smaller than the second predetermined value, the output ratio is corrected to a smaller value. For this reason, when the amount of time change is large, that is, when the inverted two-wheeled mobile body is operating suddenly, it can be notified that the vehicle is approaching to fall at an earlier timing. On the other hand, when the amount of time change is small, that is, when the inverted two-wheeled mobile body is operating slowly, it can be noticed that it is possible to notify that the vehicle is about to fall at a later timing. This can be suppressed.

Embodiment 2
Then, the inverted two-wheeled mobile body concerning Embodiment 2 of this invention is demonstrated. In the second embodiment of the present invention, the correction of the motor output ratio is performed according to the state of the patient (passenger). In the second embodiment, only portions different from the first embodiment will be described.

  First, the schematic system configuration of the inverted two-wheeled mobile body according to the second exemplary embodiment of the present invention will be described with reference to FIG. The inverted two-wheeled mobile body 200 according to the second embodiment includes a control device 16, a pair of left and right drive circuits 6R and 6L, a pair of left and right motors 7R and 7L, a detection unit 8, a battery 9, and a notification unit. 10. The control device 16 includes a limit output calculation unit 11, a motor output derivation unit 12, a ratio calculation unit 13, a patient state acquisition unit 17, and a correction unit 18. In addition, since it is the same as that of the structure of FIG. 2 about structures other than the patient state acquisition part 17 and the correction | amendment part 18, description is abbreviate | omitted.

  The patient state acquisition unit 17 acquires a state of a patient who is a passenger (also referred to as a passenger state). Here, a patient's condition is a patient's symptom and recovery degree. The patient's symptoms and degree of recovery may be set by the patient or assistant directly inputting to the device. The patient state acquisition unit 17 may estimate the patient state using the correlation between the pitch angle of the vehicle body 1 and the motor output. Then, the patient state acquisition unit 17 outputs the acquired patient state to the correction unit 18.

  Here, a method for estimating the patient's state using the correlation between the pitch angle of the vehicle body 1 and the motor output will be described.

  For example, when the passenger's balance ability is high, the inverted two-wheeled mobile body 200 and the passenger operate together. In this case, the motor output follows the pitch angle of the vehicle body 1. That is, the pitch angle of the vehicle body 1 and the motor output are highly correlated.

  On the other hand, when the passenger's balance ability is low, the inverted two-wheeled mobile body 200 and the passenger perform separate operations. In this case, the motor output follows the pitch angle and disturbance of the vehicle body 1 (excessive operation such as a passenger's flutter). That is, the pitch angle of the vehicle main body 1 and the motor output have a low correlation.

  Therefore, the patient state acquisition unit 17 calculates a correlation coefficient indicating the correlation between the time series data of the pitch angle of the vehicle body 1 and the time series data of the motor output. Moreover, the patient state acquisition part 17 judges a passenger's present balance ability with this calculated correlation coefficient. Further, the patient state acquisition unit 17 estimates that the passenger having a high balance ability has a mild symptom or a high degree of recovery, and the passenger having a low balance ability indicates a patient having a severe symptom or a low degree of recovery. presume.

  Next, the correction unit 18 will be described. The correction unit 18 receives the patient state from the patient state acquisition unit 17. Further, the correction unit 18 receives the ratio of the motor output from the ratio calculation unit 13. Further, the correction unit 18 determines whether or not the correction of the output ratio is necessary according to the patient's condition, and corrects the output ratio when it is determined that it is necessary.

  For example, the correction unit 18 corrects the output ratio to a small value when the patient's symptoms are mild or when the patient's recovery degree is high. Moreover, the correction | amendment part 18 correct | amends an output ratio to a big value, when a patient's symptom is heavy or a patient's recovery degree is low. Furthermore, the correction unit 18 does not correct the output ratio when the patient's symptoms are neither light nor heavy, or when the patient's recovery level is neither high nor low.

  And the correction | amendment part 18 outputs the output ratio after correction | amendment to the alerting | reporting part 10, when correct | amending. Moreover, the correction | amendment part 18 outputs the output ratio received from the ratio calculation part 13 to the alerting | reporting part 10, when not correct | amending.

  Next, processing of the inverted two-wheeled mobile body according to the second exemplary embodiment of the present invention will be described using the flowchart of FIG. Note that S101 to S105 and S111 in FIG. 11 are the same as the steps shown in FIG.

  After S105, the inverted two-wheeled mobile body 200 acquires the patient's symptom or recovery degree as the patient's state (S201). Next, the inverted two-wheeled mobile body 200 determines whether or not the patient's symptoms are mild or whether or not the patient's recovery degree is high (S202). If it is determined in S202 that the patient's symptoms are mild or the patient's recovery level is high, the output ratio calculated in S105 is corrected to be small (S203).

  On the other hand, if it is determined in S202 that the patient's symptoms are not mild or the patient's recovery level is not high, it is determined whether the patient's symptoms are severe or the patient's recovery level is low (S204). . If it is determined in S204 that the patient's symptoms are severe or the patient's recovery level is low, the output ratio calculated in S105 is greatly corrected (S205).

  On the other hand, if it is determined in S204 that the patient's symptoms are not severe or the patient's recovery level is not low, no correction is performed.

  In addition, although the example which performs S204 after S202 is demonstrated in FIG. 11, you may make it perform S202 after S204.

  As described above, in the inverted two-wheeled mobile body according to the second embodiment of the present invention, as in the first embodiment, the traveling state of the inverted two-wheeled mobile body driven by the motor whose limit performance changes sequentially. However, it is possible to make the passengers and assistants know how close the fall is.

  Further, in the inverted two-wheeled mobile body according to the second exemplary embodiment of the present invention, when the patient's symptom is severe or the patient's recovery level is low, the output ratio is corrected to a large value, and the patient's symptom is light. In some cases, or when the degree of recovery of the patient is high, the output ratio is corrected to a small value. For this reason, when a patient's symptom is heavy, or when a patient's recovery degree is low, it can alert | report that the fall is approaching at an earlier timing apparently. On the other hand, when the patient's symptoms are mild or the patient's recovery level is high, it is possible to notify that the fall is approaching at an apparently later timing, thereby suppressing annoyance. be able to.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.

  For example, for the correction of the output ratio performed by the correction unit, a method of correcting by estimating the passenger's operation intention may be used. Specifically, when the absolute value of the torque command signal for driving and controlling the motors 7R and 7L is equal to or greater than the third predetermined value, it is estimated that the occupant is about to perform a sudden action, and the output ratio is calculated. You may make it correct | amend to a big value.

  On the other hand, when the absolute value of the torque command signal is equal to or smaller than the fourth predetermined value, which is smaller than the third predetermined value, and the absolute value of the rotational speed of the motor is equal to or smaller than the fifth predetermined value, the passenger May be estimated to be in a steady operation, and the output ratio may be corrected to a small value.

7R, 7L Motor 8 Detection unit 10 Notification unit 11 Limit output calculation unit 12 Motor output derivation unit 13 Ratio calculation unit 14 Time variation calculation unit 15, 18 Correction unit 17 Patient state acquisition unit 100, 200 Inverted two-wheeled mobile body

Claims (1)

An inverted two-wheeled mobile body that operates according to the movement of the center of gravity of the passenger,
A motor for driving the wheels;
Detecting means for detecting the state of the motor;
Motor output deriving means for deriving the output of the motor based on the detection result of the detecting means;
Limit output calculating means for calculating a limit output at which the output of the motor is saturated;
A ratio calculating means for calculating a ratio of the motor output derived by the motor output deriving means to the limit output calculated by the limit output calculating means;
(1) When the time change amount of the motor output ratio or the time change amount of the motor output is larger than a first predetermined value, the ratio is corrected to a large value, and when the motor output ratio is smaller than a second predetermined value, Means for correcting the ratio to a small value ; (2) correcting the ratio to a large value when the condition of the passenger indicates that the symptom of the passenger is severe or the recovery degree of the passenger is low; Means for correcting the ratio to a small value when the symptom of the occupant is mild or the recovery degree of the occupant is high , and (3) the estimated result of the operation intention of the occupant A correction means having any one of a means for correcting the ratio to a large value when showing a sudden movement, and a means for correcting the ratio to a small value when showing a steady movement of the occupant ;
Informing means for informing the surroundings by expressing the ratio output from the correcting means by at least one of display, sound, light, and vibration;
An inverted two-wheeled mobile body equipped with.

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