JP2728392B2 - Handle control device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a handle of a moving body that moves in a three-dimensional space, and in particular, has three degrees of freedom related to the movement of the center of gravity of the moving body in three dimensions. Suitable for simultaneously and independently inputting three degrees of freedom regarding rotation of the moving body in three dimensions,
The present invention relates to a method of controlling a handle with six degrees of freedom. Further, the present invention relates to a steering handle of a moving object, and is particularly suitable for independently inputting a posture of the moving object in a two-dimensional plane, a traveling direction of a center of gravity, and a traveling speed or a moving distance. The present invention relates to a control method of a degree of freedom steering handle. Furthermore, the present invention relates to a handle of a moving body that moves along a surface, and more particularly, three rotational degrees of freedom (yaw, pitch, and roll) related to the movement direction and posture of the center of gravity of the moving body.
The present invention relates to a control method of a two-degree-of-freedom handle suitable for inputting two degrees of freedom independently from each other. [Prior art] A conventional moving body (aircraft, artificial satellite, etc.) moving in a three-dimensional space has only three rotational degrees of freedom (yaw angle, roll angle, pitch angle), and it is difficult to deflect the traveling direction. Up and down has been indirectly performed by changing the yaw angle, roll angle, and pitch angle. Recently, a control-driven aircraft (CCV) has been developed, and it has become possible to independently control the attitude (yaw, roll, pitch) and traveling direction (x, y, z) of the aircraft. Therefore, three degrees of freedom for moving the moving body in an arbitrary direction in a three-dimensional direction and three degrees of freedom relating to the posture of the moving body.
The development of a handle suitable for simultaneously and independently inputting a total of six degrees of freedom of the rotational degrees of freedom (yaw, roll, pitch) has been promoted. In addition, the conventional steering wheel can move in one degree of freedom (rotational freedom) like a steering wheel of an ordinary car, and the moving body changes the angle of the steered wheels in the case of a car, thereby increasing the self-confidence of the moving body. The direction of travel was changed by rotating. That is, in the direction change, since the rotation motion and the movement motion of the center of gravity are dependent on each other, it is difficult to move in a narrow place and the like, and a skilled driving operation is required for garage, parking, pulling and the like. Therefore, a moving body (for example, a four-wheel steering vehicle) that moves in an arbitrary direction in an arbitrary direction within a two-dimensional plane, and a handle that enables the attitude and the moving direction, the traveling speed or the moving distance of the moving body to be independently input. Has been developed. Furthermore, the conventional steering wheel can be operated in one degree of freedom (rotational freedom) like a steering wheel of an ordinary car. In the case of a moving body, for example, the moving body changes the angle of a steered wheel and the moving body itself rotates. (Change of the yaw angle) The steering wheel changes the traveling direction. In addition, due to disturbances such as acceleration / deceleration, turning (driving operation, etc.), road surface inclination, road surface unevenness, etc., the attitude of pitch, roll, etc. changes without permission, and it is effective to input a desired value of attitude. No special measures were taken.
Therefore, when linear motion or rotational motion is considered as the degree of freedom of the moving body, any two of the three degrees of freedom of rotation (yaw, pitch, and roll) relating to the posture and the rotational direction of the center of gravity of the moving body are considered. Handles suitable for independently inputting degrees of freedom have been developed. SUMMARY OF THE INVENTION It is an object of the present invention to measure three degrees of freedom for moving a moving body in an arbitrary direction in a three-dimensional direction by an arbitrary amount, and three rotational degrees of freedom (yaw, pitch, and roll) related to the posture of the moving body. An object of the present invention is to provide a steering wheel control device capable of simultaneously inputting six degrees of freedom independently with one steering wheel. Another object of the present invention is to set the posture rotation of the moving body in the two-dimensional plane, the posture necessary for controlling the movement of the center of gravity, the traveling direction of the center of gravity, and the desired values such as the traveling speed or the moving distance by one. An object of the present invention is to provide a steering handle control device that enables simultaneous input with two handles. Still another object of the present invention is to independently set any two degrees of freedom among the three rotational degrees of freedom (pitch, roll, and yaw) related to the posture of the moving body in the moving direction of the center of gravity of the moving body.
It is an object of the present invention to provide a steering wheel control device that can input data simultaneously with one steering wheel. [Means for Solving the Problems] In order to achieve the above object, the handle control device of the present invention employs the following configuration. In a steering wheel control device for controlling a moving body,
A movement mechanism that changes the movement of the moving body in response to the movement of the steering wheel input by the driver, and
A movement detection mechanism for detecting at least one of a movement position, a speed, and an acceleration of the moving body, and a rotation detection mechanism for detecting at least one of a rotation angle, a rotation speed, and a rotation acceleration of the moving body that have been changed by the movement mechanism And controlling an actuator that changes at least one of a moving position, a speed, and an acceleration of the moving object and a rotation angle, a rotating speed, and a rotational acceleration of the moving object based on the information detected by the movement detecting mechanism and the rotation detecting mechanism. And an actuator 4 control device. More specifically, it is as follows. The handle of a moving object that moves in a conventional three-dimensional space is
There are only three rotational degrees of freedom (changes in yaw angle, roll angle, and pitch angle).
This has been done indirectly by changing the yaw, roll, and pitch angles. To achieve the above object, the handle control device of the present invention employs the following configuration. The present invention relates to a steering wheel control device for controlling a moving body, wherein a movement mechanism that changes the movement of the moving body in response to a movement of a steering wheel input by a driver, and a physical mechanism of the movement changed by the movement mechanism. Among the properties, a movement detection mechanism for detecting at least one of a movement position, a velocity, and an acceleration of the moving body, and a rotation angle, a rotation, and a rotation of the moving body among physical properties of the movement changed by the movement mechanism. A rotation detection mechanism for detecting at least one of an angular velocity and a rotation angular acceleration, and at least one of a movement position, a velocity, and an acceleration of the moving body based on information detected by the movement detection mechanism and the rotation detection mechanism. And an actuator for controlling an actuator that independently changes at least two of at least one of a rotation angle and a rotation angular velocity of the moving body. A handle control device characterized by comprising a Chueta controller. More specifically, it is as follows. That is, in the present invention, the degree of freedom of the steering wheel is set to six, and the three degrees of freedom relating to the moving motion of the center of gravity in three dimensions of the moving body and the three degrees of freedom relating to the posture of the moving body, namely, the yaw angle, the roll angle, and the pitch angle are calculated. According to the six degrees of freedom, the steering wheel is simultaneously and independently moved, and a desired value relating to the six degrees of freedom of the moving body can be input independently according to the degree of the movement. Also, in the present invention, by providing the degree of freedom of movement of the handle as a degree of freedom of movement in the two-dimensional plane in addition to the conventional degree of freedom of rotation, the moving direction and the traveling speed of the center of gravity of the moving body can be controlled with one handle. It is possible to easily input the moving distance and the posture. Further, the handle of the conventional moving body has only one rotational degree of freedom (change of the yaw angle), and the posture such as the pitch and the roll angle changes arbitrarily due to disturbance, and the desired value of the posture is changed. Although there is no effective means for inputting, in the present invention, as shown in FIG. 3, the degree of freedom of rotation of the handle is increased by one more to two, as shown in FIG. And two of the three rotational degrees of freedom regarding the yaw angle, roll angle, and pitch angle with respect to the posture of the moving body.
The steering wheel is simultaneously and independently moved in correspondence with the two degrees of freedom, and it becomes possible to independently input desired values relating to the two degrees of freedom of the moving body depending on the degree of the movement. The feature of the handle shown in FIG. 3 (a) is that the rotation axes of the two rotations of the handle are substantially parallel, enabling input of desired values of the traveling direction of the moving body and the yaw angle. The characteristic of the handle shown in FIG. 3 (b) is that the second rotation axis of the handle is substantially orthogonal to the first rotation axis and one of the rotation angles is within 180 °, and the roll angle and the pitch angle are different. Of the desired value can be input. The characteristics of the handles shown in FIG. 3 (c) are that both of them have a rotation angle within 180 ° and both
Since the directions of ゜ are almost matched, it is possible to input desired values of the roll angle and the pitch angle. [Operation] With the above configuration, input with multiple degrees of freedom is possible. Embodiment An embodiment of the present invention will be described below with reference to FIG. FIG. 1 is a schematic explanatory view of a control device to which the present invention is applied.
The control device includes a handle 1, a mechanism 2 that allows the handle to move an arbitrary amount in the x-axis direction, a mechanism 3 that allows the handle to move an arbitrary amount in the y-axis direction, and an arbitrary amount of the handle in the z-axis direction. A mechanism 4 for enabling movement, a mechanism 5 for enabling rotation of the handle in the yaw angle direction, a mechanism 6 for enabling rotation of the handle in the roll angle direction, a mechanism 7 for enabling rotation of the handle in the pitch angle direction, Also, 2,3,4,5,6,
Motions with one degree of freedom generated at 7, 16, 17, 18, 1
It comprises a mechanism 8, 9, 10, 11, 12, 13 for detecting at least one of the positions, speeds, and accelerations relating to 9, 20, and 21, a control device 14 for moving body motion, and an actuator 15. By operating the handle 1, three types of (x-axis, y-axis, and z-axis) information relating to the movement of the moving body and three types of (roll, pitch, and yaw) information relating to the rotation of the moving body are provided, for a total of six types. Input simultaneously (in any direction in a three-dimensional space and at the same time add a twist in any direction), the motion (mechanism in the physical mechanism 2,3,4,5,6,7) Change of the target state), and the input information is converted into the motion and transmitted. The motions generated at 2,3,4,5,6,7 are the motions 16,17,18,19,20,21 each having one degree of freedom. The movements 16, 17, 18 are linear movements, and the movements 19, 20, 21 are rotation movements. Exercise 16,17,
18,19,20,21 are mechanisms for detecting at least one of position, velocity, and acceleration related to the one-degree-of-freedom movement.
These are detected by 10, 11, 12, and 13 (for example, generally commercially available position, speed, and acceleration sensors). Detection information 22,23,24,25,26,27 based on 8,9,10,11,12,13 is input to the control device 14 for the movement of the moving body, and 14 uses the information to At least one type of operation amount among movement distance, speed, and acceleration related to movement in the x-axis direction, or at least one type of operation amount among movement distance, speed, and acceleration related to movement of the moving body in the y-axis direction, or At least one type of operation amount among a moving distance, a speed, and an acceleration of the moving body in the z-axis direction, or a rotation angle of the moving body with respect to the yaw angle,
At least one type of operation amount among the rotation angular velocity and the rotation angular acceleration, or at least one type of operation amount among the rotation angle, the rotation angular velocity, and the rotation angular acceleration of the moving body, or the rotation about the pitch angle of the moving body. At least one type of operation amount among angle, rotation angular velocity, and rotation angular acceleration 28
Is determined (for example, the accelerator amount (slottle angle) and the steering angle are obtained from values proportional to the detection information), and the actuator is determined.
Use 15 to control the mobile. Hereinafter, another embodiment of the present invention will be described with reference to FIG.
FIG. 2 is a schematic explanatory view of a control device to which the present invention is applied. The control device includes a handle 1, a rotation mechanism 2 for enabling the rotation of the handle, and a handle in an arbitrary direction in an arbitrary amount in a two-dimensional plane. A moving mechanism 3 for moving, a detecting mechanism 4 for detecting at least one of a position, a velocity, and an acceleration relating to the motion 11 having one degree of freedom generated in the rotating mechanism 2;
Detection mechanism 5 for detecting at least one kind of position, velocity, and acceleration in the radial direction and at least one kind of position, velocity, and acceleration in the circumferential direction with respect to the movement 12 having two degrees of freedom generated in the vehicle, and controlling the movement of the moving body The device 6 includes an actuator 7. By operating the handle 1, desired values such as the rotation (posture) of the moving body, the moving direction of the moving body in the two-dimensional plane (the moving direction of the center of gravity), the moving distance or the moving speed, for example, are respectively set to the rotation angle of the handle and the two-dimensional A rotation mechanism 2 that enables rotation of the handle when input independently and simultaneously according to a moving direction and a moving amount in the plane, and a moving mechanism 3 that moves the moving body in an arbitrary direction by an arbitrary amount in a two-dimensional plane. A movement (change in physical state) occurs inside, and the input information is converted into the movement and transmitted. The motion generated by the rotation mechanism 2 is a motion 11 having one degree of freedom, and the motion 12 generated by the moving mechanism 3 is a motion having two degrees of freedom. The one-degree-of-freedom movement 11 includes at least one of position, velocity, and acceleration related to the one-degree-of-freedom movement.
The two-degree-of-freedom movement 12 is detected by the detection mechanism 4 for detecting the type, and the two-degree-of-freedom movement 12 is at least one of the radial, circumferential, position, velocity, and acceleration of the two-degree-of-freedom movement.
Detected by the detection mechanism 5 for detecting the type, the detection mechanism 4
And the detection information 14 by the detection mechanism 5 are input to the control device 6 for the movement of the moving body, and the control device 6 uses the information to obtain the rotation angle, the rotation angular velocity, and the rotation angular acceleration related to the posture of the moving body. And the operation amount 15 relating to at least one of the angles, angular velocities, and angular accelerations related to the moving direction of the moving object and at least one of the moving distance, speed, and acceleration, and moves using the actuator 7. Control the body. Another embodiment in FIG. 2 is described below. The control device includes a handle 1, a rotation mechanism 2 that enables rotation of the handle, a movement mechanism 3 that moves the handle to a predetermined origin or an arbitrary position on the circumference of a predetermined radius from the origin in a two-dimensional plane, A detection mechanism 4 for detecting at least one of a position, a velocity, and an acceleration relating to the motion 11 having one degree of freedom generated in the mechanism 2; It comprises a detection mechanism 5 for detecting at least one of one type and at least one of position, velocity and acceleration in the circumferential direction, a control device 6 for moving body motion, and an actuator 7. By operating the handle 1, desired values of the rotation (posture) of the moving body and the moving direction of the moving body in the two-dimensional plane (the direction of movement of the center of gravity) correspond to, for example, the rotation angle of the handle and the moving direction in the two-dimensional plane, respectively. And simultaneously and independently input (a handle 1 is linearly moved in an arbitrary direction and rotated), and a rotation mechanism 2 that enables rotation of the handle
And movement inside the moving mechanism 3 (change in physical state)
Occurs, and the input information is converted into the motion and transmitted.
The motion generated by the rotation mechanism 2 is the motion 11 with one degree of freedom,
The motion 12 generated by the moving mechanism 3 is a motion having two degrees of freedom.
The one-degree-of-freedom movement 11 is detected by the detection mechanism 4 for detecting at least one of position, velocity, and acceleration related to the one-degree-of-freedom movement, and the two-degree-of-freedom movement 12 is a radial position related to the two-degree-of-freedom movement. , Speed, and at least one of the position, velocity, and acceleration in the circumferential direction are detected by the detection mechanism 5, the detection information 13 by the detection mechanism 4, and the detection information by the detection mechanism 5
14 is input to the control device 6 for the movement of the moving object, and the control device 6 uses the information to perform at least one of the rotation angle, the rotation angular velocity, and the rotation angular acceleration related to the posture of the moving object, and the moving direction of the moving object. The operation amount 15 for at least one of the angles, angular velocities, and angular accelerations is determined, and the moving body is controlled using the actuator 7. Finally, still another embodiment of the present invention will be described with reference to FIG. FIG. 4 is a schematic explanatory view of a control device to which the present invention is applied. The control device includes a handle 1, rotation mechanisms 2 and 3 for enabling rotation of the handle, and a degree of freedom 1 generated in each of the mechanisms 2 and 3. Positions, velocities for movements 11 and 12,
It comprises detection mechanisms 4 and 5 for detecting at least one type of acceleration, a control device 6 for moving body motion, and an actuator 7. When two kinds of information relating to the rotation of the moving body are simultaneously and independently input by operating the handle 1 (arbitrary twist is applied to the handle), the movement (rotation mechanism) 2 and 3 inside the rotation mechanisms 2 and 3 that enable the rotation of the handle is performed. Physical state change), and the input information is converted into the movement and transmitted. Each of the motions generated by the rotation mechanisms 2 and 3 has one degree of freedom
11 and 12. The movements 11 and 12 are detected by detection mechanisms 4 and 5 for detecting at least one of position, velocity and acceleration relating to the one degree of freedom movement. Detection mechanisms 4 and 5
Are input to the control device 6 for the motion of the moving object, and the control device 6 uses the information to determine at least one of the rotation angle, the rotation angular velocity, and the rotation angular acceleration related to the posture of the moving object. The operation amount 15 is determined, and the moving body is controlled using the actuator 7. [Effects of the Invention] The present invention has the following effects. (1) Three degrees of freedom relating to the movement of the center of gravity of the moving body in three dimensions with one handle, and three degrees of freedom relating to the posture of the moving body (yaw, roll, pitch). Can be input independently and simultaneously, which makes it much easier to control moving objects than conventional steering wheels. For example, turbulence and turbulent currents, such as airplanes and submarines, can cause certain disturbances in three-dimensional space. Even if the moving object is received, the moving object can be controlled stably and accurately. (2) By giving the degree of freedom of movement of the handle in a two-dimensional plane in addition to the conventional rotational degree of freedom,
With one handle, you can easily input the moving direction of the center of gravity of the moving body, the posture, the moving distance or the speed, etc., so that the moving direction itself is changed by changing the steering wheel angle and rotating the moving body itself. The control of the moving body becomes much easier, and the moving distance or the moving speed can be adjusted without using the accelerator pedal and the brake petal. In this case, it is very easy to enter the garage and to adjust the width. (3) One handle has a degree of freedom in the moving direction of the center of gravity of the moving body, and three rotational degrees of freedom relating to the posture of the moving body (yaw,
(Pitch, Roll) can be input independently and simultaneously, making it much easier to control the moving body as compared with the conventional steering wheel. For example, acceleration and deceleration, turning (driving operation such as), Even if the moving object receives disturbance such as inclination of the road surface, unevenness of the road surface, etc., the moving object can be controlled stably and accurately.

BRIEF DESCRIPTION OF THE DRAWINGS FIGS. 1, 2, and 4 are schematic explanatory views of a control device to which the present invention is applied, and FIG. 3 is a view showing an example of a handle that can be controlled by the present invention.

   ────────────────────────────────────────────────── ─── Continuation of front page    (72) Inventor Masahisa Funabashi               1099 Ozenji, Aso-ku, Kawasaki               Hitachi Systems Development Laboratory (72) Inventor Mikihiko Onari               1099 Ozenji, Aso-ku, Kawasaki               Hitachi Systems Development Laboratory (72) Inventor Noboru Sugiura               Katsuta 2520 Takaba, Hitachi, Ltd.               Inside the Sawa Factory (72) Inventor Zenichi Hirayama               Katsuta 2520 Takaba, Hitachi, Ltd.               Inside the Sawa Factory                (56) References Japanese Utility Model Showa 61-9399 (JP, U)

Claims (1)

(57) [Claims] In a steering wheel control device for controlling a moving body, a movement mechanism that changes the movement of the moving body in response to a movement of a steering wheel input by a driver; and a physical property of the movement changed by the movement mechanism,
A movement detection mechanism that detects at least one of a movement position, a velocity, and an acceleration of the moving body; and, among physical properties of the movement changed by the movement mechanism,
A rotation detection mechanism that detects at least one of a rotation angle, a rotation angular velocity, and a rotation angular acceleration of the moving body; and a movement position of the moving body based on information detected by the movement detection mechanism and the rotation detection mechanism. , Speed, and acceleration, and an actuator control device that controls an actuator that independently changes at least two of at least one of a rotation angle, a rotation angular velocity, and a rotation angular acceleration of the moving body. And handle control device. 2. The handle control device according to claim 1, wherein the movement mechanism corresponds to a movement of the steering wheel input by the driver, and the plurality of movement mechanisms move the moving body in directions different from each other. And a plurality of rotation mechanisms for rotating the moving body in directions different from each other in response to the movement of the steering wheel input by the driver. 3. 3. The handle control device according to claim 2, wherein each of the moving mechanisms moves the moving body in any one of an x-axis direction, a y-axis direction, and a z-axis direction of a three-dimensional space. The rotation mechanism rotates the moving body in any one of a yaw angle direction, a roll angle direction, and a pitch angle direction. Detecting a moving position, a velocity, and an acceleration of the moving body, the rotation detecting mechanism detects a rotation angle, a rotating speed, and a rotational acceleration of the moving body in a yaw angle direction, a roll angle direction, and a pitch angle direction; The actuator control device includes a moving position, a moving speed, a moving acceleration, a yaw angle direction, a roll angle direction, and a pitch angle direction of the moving body in the x-axis direction, the y-axis direction, and the z-axis direction. Handle control device and controls any one of.