JP6136885B2 - Inverted moving body - Google Patents

Description

  The present invention relates to an inverted moving body that can estimate an operating state of the moving body.

  In recent years, it has become an important element to pursue a reduction in size and weight in an inverted mobile body, and in particular, a reduction in size and weight of a battery has been achieved (for example, see Patent Document 1).

JP 2010-149576 A

  By the way, in the above-described inverted type moving body, it is necessary to secure a sufficient driving force using a battery having a small size and a limited capacity and to continue the inversion control. For this reason, for example, it is necessary to limit the motor output in accordance with the usage environment such as the remaining battery level and the passenger weight.

  The present invention has been made to solve such problems, and provides an inverted moving body that can achieve both continuity of inverted control and output performance by performing motor output restriction according to the usage environment. The main purpose is to do.

One aspect of the present invention for achieving the above object is an inverted moving body that travels by driving a motor while maintaining an inverted state, and includes first detection means for detecting rotation information of the motor. Second detection means for detecting torque information of the motor, rotation information and torque information of the motor detected by the first and second detection means, and preset rotation information and torque information of the motor. Based on map information indicating a predetermined relationship between the value and the operating state of the inverted moving body, estimation means for estimating the operating state of the inverted moving body and use environment information of the inverted moving body are acquired. And an information acquisition unit that changes the map information according to the use environment information acquired by the information acquisition unit.
In this aspect, the information processing unit may further include an evaluation unit that evaluates the usage environment information acquired by the information acquisition unit, and the estimation unit may change the map information according to an evaluation result of the evaluation unit.
In this one aspect, the estimation means calculates a trajectory of changes in the rotation information and torque information of the motor detected by the first and second detection means, and calculates the rotation information and torque information of the calculated motor. Based on the trajectory of change and the map information, the operating state of the inverted moving body after a predetermined time may be estimated.
In this aspect, in the coordinate system indicating the map information, areas indicating the operation state of the inverted moving body are respectively set, and the areas are areas set around the origin of the coordinate system. In addition, a first area set in an area closest to the origin and a second area set in an area farther from the origin than the first area may be included.
In this aspect, in the coordinate system indicating the map information, regions indicating the operating state of the inverted moving body are respectively set, and the regions are set concentrically around the origin of the coordinate system. A first region in which the motor continuously outputs the rotation information and torque information in the region for a first predetermined time or more, and the motor is set outside the first region and the motor is in the region A second region for outputting rotation information and torque information for a second predetermined time shorter than the first predetermined time, and the motor set outside the second region and the rotation information and torque information in the region are And a third region that outputs only a third predetermined time shorter than the second predetermined time.
In this one aspect, the estimation means has an absolute value of the rotation information of the motor based on the rotation information and torque information of the motor detected by the first and second detection means and the map information. is equal to or smaller than the first predetermined value, and the absolute value of the torque information is less than or equal the second predetermined value, the rotation information and the coordinate value is the first region in the near of the torque information is, and said rotation information When it is determined that the signs of the torque information are the same, it may be estimated that the inverted moving body is in an operating state that cruises on a flat ground or uphill.
In this one aspect, the estimation means has an absolute value of the rotation information of the motor based on the rotation information and torque information of the motor detected by the first and second detection means and the map information. is equal to or smaller than the first predetermined value, the absolute value of the torque information is less than or equal the second predetermined value, the rotation information and the coordinate value is the first region in the near of the torque information is, and the rotation information and torque When it is determined that the signs of the information are different, it may be estimated that the inverted mobile body is in an operating state for cruising downhill.
In this one aspect, the estimation means has a third predetermined torque information on the motor based on the rotation information and torque information of the motor detected by the first and second detection means and the map information. When it is determined that the rotation information and the coordinate value of the torque information are within the third region, the inverted moving body is estimated to be in an operation over a step or a sudden acceleration operation state. May be.
In this one aspect, the estimation means has an absolute value of the torque information of the motor based on the rotation information and torque information of the motor detected by the first and second detection means and the map information. When it is determined that the torque information is a negative value and the rotation information and the coordinate value of the torque information are within the third area, the deceleration of the inverted moving body is suddenly reduced. The operating state may be estimated.
In this aspect, the rotation information and torque information of the motor in the first and third quadrants in the coordinate system of the map information with the rotation and torque direction of the motor when the inverted moving body moves forward as the positive direction. The value may be limited by a first limit line indicating a limit of the power supply voltage of the inverted mobile body in which the torque information decreases as the rotation information increases.
In this one aspect, in the coordinate system of the map information, the values of the rotation information and torque information of the motor in the second and fourth quadrants are the inversion in which the torque information increases as the rotation information increases. You may restrict | limit by the 2nd limit line which added the voltage rise part at the time of regenerative discharge to the 1st limit line which shows the limit of the power supply voltage of a type | mold mobile body.
One aspect of the present invention for achieving the above object is a method for estimating an operating state of an inverted moving body that travels by driving a motor while maintaining an inverted state, and detects rotation information of the motor. A step of detecting torque information of the motor, the detected rotation information and torque information of the motor, preset values of rotation information and torque information of the motor, and operation of the inverted moving body A step of estimating an operating state of the inverted mobile body based on map information indicating a predetermined relationship with the state, a step of acquiring usage environment information of the inverted mobile body, and the acquired usage environment And a step of changing the map information according to the information.

  ADVANTAGE OF THE INVENTION According to this invention, the inverted type mobile body which can make continuity of inversion control and output performance compatible can be provided by performing motor output restriction | limiting according to utilization environment.

It is a perspective view which shows the schematic structure of the inverted moving body which concerns on one embodiment of this invention. 1 is a block diagram showing a schematic system configuration of an inverted moving body according to an embodiment of the present invention. It is a block diagram which shows the schematic system configuration | structure of the control apparatus which concerns on one embodiment of this invention. It is a figure which shows an example of the map information which shows the predetermined relationship of a rotation speed, a torque command signal, and the operation state of an inverted moving body. It is a figure which shows the flow of the operating state estimation method of the inverted moving body which concerns on one embodiment of this invention.

  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 moving body according to an embodiment of the present invention. The inverted moving body 10 according to the present embodiment is a small and light coaxial two-wheeled vehicle that can perform forward / backward, left / right turning, acceleration / deceleration, etc. according to the movement of the center of gravity of the passenger while maintaining the inverted state. It is configured. The inverted moving body 10 includes a vehicle main body 1, a pair of left and right wheels 2 </ b> R and 2 </ b> L that are rotatably connected to the vehicle main body 1, an operation handle 4 that is operably provided on the vehicle main body 1, and a vehicle main body 1. And a pair of left and right step portions 6R and 6L that are provided and can be boarded by a passenger.

  By tilting the operation handle 4 in the front-rear direction, the inverted moving body 10 is moved forward or backward, and by tilting in the roll direction (left-right direction), the inverted moving body 10 is swung. This is an operation unit.

  The vehicle body 1 supports the operation handle 4 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 6 </ b> R and 6 </ b> L are provided on the left and right sides of the operation handle 4. Each step part 6R, 6L 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 moving body 10 is only an example, and is not limited to this. For example, the configuration may be such that the operation handle 4 is not provided. It can be applied to any moving body.

  FIG. 2 is a block diagram showing an example of a schematic system configuration of the inverted moving body according to the embodiment of the present invention. The inverted moving body 10 according to the first embodiment includes a pair of left and right wheel drive units 3R and 3L, a control device 5, a pair of left and right step sensors 7R and 7L, an angle detection sensor 8, a battery 9, A pair of left and right drive circuits 11R, 11L, a posture sensor unit 12, and a pair of left and right rotation sensors 13R, 13L are provided.

  Each step sensor 7R, 7L is provided in each step part 6R, 6L, for example, and is constituted by a weight sensor. Each step sensor 7R, 7L detects whether a passenger's foot is on each of the step portions 6R, 6L using each weight sensor, and controls the foot detection signal when the foot is on 5 for each.

  Wheel drive units 3 </ b> R and 3 </ b> L are attached to the side members of the vehicle body 1, respectively. Each wheel drive unit 3R, 3L can independently rotate each wheel 2R, 2L. Each wheel drive unit 3R, 3L is constituted by, for example, wheel drive motors 31R, 31L and reduction gears 32R, 32L connected to the rotation shafts of the wheel drive motors 31R, 31L so as to be able to transmit power. Can do. Each wheel drive motor 31R, 31L generates and outputs regenerative power when the inverted mobile body 10 is in a decelerating state (braking state). The regenerative power output by the wheel drive motors 31R and 31L is consumed by internal resistances provided in the wheel drive units 3R and 3L and the control device 5.

  An angle detection sensor 8 for detecting an operation amount (rotation amount) of the operation handle 4 is attached to the vehicle body 1. As the angle detection sensor 8, for example, a potentiometer, a sensor having a variable capacitor structure, or the like can be applied.

  A battery 9 for supplying electric power to the wheel drive units 3R, 3L, the control device 5, other electronic devices, electric devices, and the like is provided at the base of the operation handle 4. As the battery 9, for example, a lithium ion battery reduced in size and weight is used.

  A vehicle body upper member of the vehicle main body 1 includes a pair of drive circuits 11R and 11L that drive a pair of wheel drive units 3R and 3L. The vehicle body 1 has a vehicle body lower member that drives a posture sensor unit 12 that detects the posture of the vehicle main body 1, the operation handle 4, and the like and outputs detection signals thereof, and a pair of wheel drive units 3R and 3L. And a control device 5 that outputs a torque command signal (a specific example of torque information) for control.

  The wheel drive units 3R and 3L are provided with rotation sensors 13R and 13L for detecting rotation information such as the rotation speed, rotation angular velocity, and rotation angular acceleration of the wheel drive motors 31R and 31L, respectively. Each rotation sensor 13R, 13L is a specific example of the first detection means, and outputs the detected rotation information of each wheel drive motor 31R, 31L to the control device 5.

  The control device 5 is based on detection signals from the attitude sensor unit 12, detection signals from the angle detection sensor 8, foot detection signals from the step sensors 7R and 7L, rotation information from the rotation sensors 13R and 13L, and the like. Arithmetic processing is executed, and a necessary torque command signal is output to each wheel drive unit 3R, 3L via each drive circuit 11R, 11L. Moreover, the control apparatus 5 controls each wheel drive unit 3R, 3L, and the inverted moving body 10 performs desired driving | running | working, maintaining an inverted state.

  The control device 5 includes, for example, an arithmetic circuit 5a having a microcomputer (CPU), and a storage device 5b having program memory, data memory, other RAM, ROM, and the like.

A battery 9 and a pair of drive circuits 11R and 11L are connected to the control device 5.
Each drive circuit 11R, 11L outputs a drive current corresponding to the torque command signal output from the control device 5 to each wheel drive unit 3R, 3L. Each drive circuit 11R, 11L controls independently the rotation speed, rotation direction, etc. of each wheel 2R, 2L, and each wheel drive unit 3R, 3L is individually connected to these.

  The attitude sensor unit 12 detects inclination information such as an inclination angle, an inclination angular velocity, and an inclination angle acceleration of the vehicle body 1 when the inverted mobile body 10 is traveling. The attitude sensor unit 12 includes, for example, a gyro sensor and an acceleration sensor. When the passenger tilts the operation handle 4 forward or backward, the step portions 6R and 6L are tilted in the same direction. The posture sensor unit 12 detects tilt information corresponding to the tilt.

  The control device 5 drives and controls the wheel drive units 3R and 3L so that the inverted moving body 10 moves in the tilt direction of the operation handle 4 in accordance with the tilt information detected by the attitude sensor unit 12. Thus, the passenger can move the inverted moving body 10 forward or backward by inclining the step portions 6R and 6L by moving the center of gravity.

  By the way, it is important to reduce the size and weight of the inverted moving body, and in particular, the battery is actively reduced in size and weight. It is particularly important to comprehensively estimate the operating state of the inverted moving body in order to secure a sufficient driving force using such a small and light battery with a limited capacity. This is because it is possible to comprehensively estimate the operating state of the inverted moving body and perform highly accurate control and warning that lead to labor saving of the battery 9 according to the estimated operating state. On the other hand, the control device 5 according to the present embodiment can comprehensively estimate the operating state of the inverted moving body 10. Furthermore, the control device 5 according to the present embodiment can achieve both the continuity of the inverted control and the output performance by limiting the motor output according to the usage environment of the inverted mobile body 10.

  FIG. 3 is a block diagram showing a schematic system configuration of the control device 5 according to the present embodiment. The control device 5 according to the present embodiment includes a state estimation unit 51 that comprehensively estimates the operating state of the inverted mobile body 10, and each wheel drive unit for performing desired traveling while maintaining the above-described inverted state. It has the inversion control part 52 which produces | generates the torque information with respect to 3R, 3L, the information acquisition part 53 which acquires utilization environment information, and the evaluation part 54 which evaluates utilization environment information.

  The state estimation unit 51 is a specific example of an estimation unit, and includes rotation information output from the rotation sensors 13R and 13L, torque information generated by the inversion control unit 52, and preset wheel drive units 3R, Based on the map information indicating the predetermined relationship between the 3L rotation information and torque information and the operating state of the inverted mobile body 10, the operating state of the inverted mobile body 10 is comprehensively estimated.

  In the state estimation unit 51, for example, the coordinate position (rotation information, torque information) between the rotation information output from each of the rotation sensors 13R and 13L and the torque information generated by the inversion control unit 52 is 2 of map information. It is determined which region is preset in the dimensional coordinate system. In the two-dimensional coordinate system of the map information, a region corresponding to the operating state of the inverted moving body 10 is set in detail. The state estimation unit 51 estimates the operation state corresponding to the determined area as the current operation state of the inverted mobile body 10. Thereby, the operation state of the inverted mobile body 10 can be comprehensively estimated, and highly accurate control and warning leading to labor saving of the battery 9 can be performed according to the estimated operation state.

  In the present embodiment, as the rotation information, the rotation speeds of the wheel drive motors 31R and 31L are used. However, the present invention is not limited thereto, and for example, rotation angular velocities of the wheel drive motors 31R and 31L may be used. Moreover, although the average value of the rotation speed of the left and right wheel drive motors 31R and 31L is used as the rotation information, the rotation speed of any one of the wheel drive motors 31R and 31L may be used as a representative value.

  In the present embodiment, the torque command signal output from the inversion control unit 52 of the control device 5 to each of the drive circuits 11R and 11L is used as the torque information. Accordingly, drive currents output from the drive circuits 11R and 11L to the wheel drive units 3R and 3L may be used. Furthermore, a torque sensor that detects a drive torque may be provided in each of the wheel drive motors 3R and 3L, and a torque value detected by the torque sensor may be used as torque information. As the torque information, the average value of the torque command signal output to each drive circuit 11R, 11L is used, but the torque command signal output to any one of the drive circuits 11R, 11L may be used as a representative value. .

  For example, as shown in FIG. 4, the map information is set as a two-dimensional coordinate system in which the X axis is the rotational speed and the Y axis is the torque command signal. Further, in the two-dimensional coordinate system, regions indicating the operation state of the inverted moving body 10 are set. The map information is stored in advance in the storage device 5b, for example, and the state estimation unit 51 reads the map information from the storage device 5b and estimates the operating state of the inverted mobile body 10. The user can arbitrarily change the setting of the map information in the storage device 5b via an input device or the like.

Here, each area set in the map information will be described in detail. In the two-dimensional coordinate system of the map information, regions in the first and fourth quadrants (the number of rotations> 0) indicate the forward movement state of the inverted moving body 10. Regions in the second and third quadrants (the number of revolutions <0) indicate the reverse operation state of the inverted moving body 10. The regions in the first and third quadrants indicate the acceleration operation state of the inverted moving body 10. Regions in the second and fourth quadrants indicate the deceleration operation state of the inverted moving body 10.

  Further, the region in the first quadrant (the number of revolutions> 0 and the torque command signal> 0) indicates the powering operation state of the inverted mobile body 10 in the forward direction, and the region in the second quadrant (the number of revolutions <0 The torque command signal> 0) indicates the regenerative operation state in the reverse direction of the inverted moving body 10. The region in the third quadrant (the number of revolutions <0 and the torque command signal <0) indicates the powering operation state in the reverse direction of the inverted moving body 10, and the region in the fourth quadrant (the number of revolutions> 0 and the torque) The command signal <0) indicates the regenerative operation state of the inverted mobile body 10 in the forward direction.

  In the two-dimensional coordinate system of the map information, each of the first and third quadrants has a limit on the battery voltage (power supply voltage) of the inverted moving body 10 where the torque command signal decreases as the rotational speed increases. Are respectively limited by a first limit line L1. Similarly, each region of the second and fourth quadrants is also limited by a first limit line L1 indicating the limit of the battery voltage of the inverted mobile body 10 where the torque command signal increases as the rotational speed increases. ing. The first limit line is an example, and is determined by the performance of the battery 9 to be mounted.

  When the regenerative electric power output from each wheel drive motor 31R, 31L is consumed by an internal resistance or the like, each region in the first to fourth quadrants is limited by the first limit line as described above. On the other hand, when the regenerative electric power output from each wheel drive motor 31R, 31L is charged to the battery 9, the voltage of the battery 9 rises by the regenerative charge. Therefore, each region of the second and fourth quadrants indicating the regenerative operation state may be limited by the second limit line L2 in which the voltage increase during the regenerative discharge is added to the first limit line. Thereby, it can be used to the limit of a battery capacity, and the battery 9 can be used efficiently.

  More specifically, the two-dimensional coordinate system of the map information includes a concentric steady use region (first region) S1 centered on the origin of the two-dimensional coordinate system and an instantaneous use region adjacent to the outside of the steady use region S1. A (second area) S2 and a super instantaneous use area (third area) S3 adjacent to the outside of the instantaneous use area S2 are set.

  In the steady use area S1, each wheel drive unit 3R, 3L continues the coordinate value (rotation speed, torque command signal) in the steady use area S1 for a first predetermined time or more (for example, a relatively long time of several minutes or more). This is an area that can be output.

  In the instantaneous use area S2, each wheel drive unit 3R, 3L has a second predetermined time (for example, 3 to 5 seconds) in which the coordinate values (rotation speed, torque command signal) in the instantaneous use area S2 are shorter than the first predetermined time. This is an area that can be output instantaneously.

In the ultra-instantaneous use area S3, each wheel drive unit 3R, 3L has a coordinate value (rotation speed, torque command signal) in the ultra-instant use area S3 for a third predetermined time (for example, 1 second) shorter than the second predetermined time. This is an area that can be output instantaneously. Note that the shapes of the steady use region S1, the instantaneous use region S2, and the ultra-instant use region S3 shown in FIG. 4 are examples, and the present invention is not limited to this.
In more detail, the steady use area S1 includes a first cruise area S11 in the first and second quadrants and a second cruise area S12 in the third and fourth quadrants.

(1) Estimation of cruise operation state The first cruise region S11 is a region in which the absolute value of the rotational speed is not more than a first predetermined value and the torque command signal is a positive value not more than a second predetermined value. The state estimation unit 51 maps the coordinate values (the number of rotations and the torque command signal) based on the number of rotations output from each of the rotation sensors 13R and 13L and the torque command signal generated by the inversion control unit 52. It is determined whether the information is within the first cruise area S11 of the two-dimensional coordinate system of information .

In more detail, when the state estimation unit 51 determines that the coordinate value is in the first cruise region S11 and the rotation speed is a positive value , the inverted moving body 10 in the power running operation state and the forward direction is Estimated to be a flat ground / hill climbing operation state that cruises on a flat land or uphill . On the other hand, when the state estimation unit 51 determines that the coordinate value is in the first cruise region S11 and the rotation speed is a negative value , the inverted moving body 10 in the regenerative operation state and the reverse direction is on the downhill. Estimated to be downhill cruise operating state .

(2) Estimation of cruise operation state In the second cruise region S12, the absolute value of the rotational speed is not more than the first predetermined value, the absolute value of the torque command signal is not more than the second predetermined value, and the torque command signal is negative. This is a value area. Based on the number of rotations output from the rotation sensors 13R and 13L and the torque command signal generated by the inversion control unit 52, the state estimation unit 51 has the coordinate values (number of rotations and torque command signal) as map information. It is determined whether it is in the second cruising area S12 of the two-dimensional coordinate system.

In more detail, the state estimation unit 51 estimates that the coordinate value is in the second cruise region S12 and the rotational speed is a positive value, and that the regenerative operation state and the downward slope cruise operation state in the forward direction are estimated. To do. On the other hand, when the state estimation unit 51 determines that the coordinate value is in the second cruise region S12 and the rotation speed is a negative value, the state estimation unit 51 estimates a power running operation state and a backward traveling flatland / uphill cruise operation state. .
Constant use area S2 is greater detail, the pressure decrease speed region S21 in the first and in the second quadrant, the acceleration or deceleration region S22 in the third and the fourth quadrant, in being configured.

(3) the estimated pressure decrease speed region S21 in pressure decrease speed operating state, a region where the absolute value of the rotation speed is large and the torque command signal than the first predetermined value is less positive than the third predetermined value, and the rotational speed Is an area in which the absolute value is equal to or less than the first predetermined value and the torque command signal is a positive value greater than the second predetermined value and smaller than the third predetermined value. Based on the number of rotations output from the rotation sensors 13R and 13L and the torque command signal generated by the inversion control unit 52, the state estimation unit 51 has the coordinate values (number of rotations and torque command signal) as map information. It is determined whether it is in the acceleration / deceleration region S21 of the two-dimensional coordinate system.

State estimating unit 51, in more detail, is in the coordinate value add or subtract speed region S21, and when the rotation speed is determined to be a positive value, the power-running operation state and forward direction, is inverted vehicle 10 Presumed to be an accelerated operating state. On the other hand, the state estimation unit 51, the coordinate values are in pressure decrease speed region S21, and when the rotation speed is determined to be negative value, the regenerating operation state and the reverse direction, is inverted vehicle 10 decelerates it is estimated that deceleration operating state.

(4) estimation of acceleration and deceleration operating states
Accelerated or decelerated region S22, a region where the absolute value of the rotational speed is the absolute value of the larger and the torque command signal than the first predetermined value is a negative value smaller than the third predetermined value, and the absolute value of the rotation speed is the first predetermined value And a region where the absolute value of the torque command signal is a negative value larger than the second predetermined value and smaller than the third predetermined value. Based on the number of rotations output from the rotation sensors 13R and 13L and the torque command signal generated by the inversion control unit 52, the state estimation unit 51 has the coordinate values (number of rotations and torque command signal) as map information. determining whether the acceleration and deceleration region S22 in a two-dimensional coordinate system.

State estimating unit 51, in more detail, the coordinate values are in the acceleration and deceleration region S22, and when the rotation speed is determined to be a positive value, estimates a deceleration state of the regenerative operation state and forward direction. On the other hand, the state estimation unit 51, the coordinate value is in the acceleration or deceleration region S22, and when the rotation speed is determined to be negative value, and estimates the accelerating operation state of the power-running operation state and the reverse direction.
The ultra-instantaneous use region S3 is configured in more detail by a first sudden operation region S31 in the first and second quadrants and a second sudden operation region S32 in the third and fourth quadrants.

(5) Estimation of sudden acceleration / deceleration operation state The first sudden motion region S31 is a region where the torque command signal is a positive value equal to or greater than a third predetermined value. Based on the number of rotations output from the rotation sensors 13R and 13L and the torque command signal generated by the inversion control unit 52, the state estimation unit 51 has the coordinate values (number of rotations and torque command signal) as map information. 2D first when it is determined that the quick operation area S31 coordinate system, the inverted type moving body 10 over the bump step climb over the operating state (or suddenly quick acceleration, down speed operation state to accelerate or decelerate the ).

More specifically, when the state estimation unit 51 determines that the coordinate value is in the first sudden movement region S31 and the rotational speed is a positive value, the state estimation unit 51 is in a power running operation state and a step overstep operation state in the forward direction (or (Sudden acceleration operation state) On the other hand, when it is determined that the coordinate value is in the first sudden movement region S31 and the rotational speed is a negative value, the state estimation unit 51 estimates a regenerative movement state and a sudden deceleration operation state in the reverse direction.

(6) estimate the second quick operation region S32 in quick acceleration and deceleration operating state, a region where the torque command signal is a negative value of the third predetermined value or more. Based on the number of rotations output from the rotation sensors 13R and 13L and the torque command signal generated by the inversion control unit 52, the state estimation unit 51 has the coordinate values (number of rotations and torque command signal) as map information. It is determined whether it is in the second sudden movement region S32 of the two-dimensional coordinate system.

In more detail, when the state estimation unit 51 determines that the coordinate value is in the second sudden movement region S32 and the rotational speed is a positive value, the state estimation unit 51 estimates that the state is a regenerative operation state and a sudden deceleration operation state in the forward direction. To do. on the other hand,. State estimation unit 51 is in the coordinate value and the second quick operation area, and when the rotation speed is determined to be negative value, the powering operation state and rapid acceleration operation state of the reverse direction (or stepped get over operating conditions ) .

  The information acquisition unit 53 is a specific example of an information acquisition unit, and acquires usage environment information of the inverted mobile body 10. The usage environment information is environment information that affects the traveling of the inverted mobile body 10. For example, the passenger information that is information related to the passenger, the weather information around the inverted mobile body 10, and the mobile body related to the inverted mobile body 10. Information, etc.

  Further, the passenger information includes, for example, physical information such as age, gender, weight, physical defect, height, etc. of the passenger, boarding time when the passenger has boarded the inverted mobile body 10, travel distance, etc. It is. The information acquisition unit 53 can acquire the passenger information from information input in advance via an input device, for example.

  The weather information includes, for example, the outside air temperature, the outside air humidity, the weather, and the like of the inverted mobile body 10. The moving body information includes, for example, a pitch angle change amount, a moving speed change amount, a wheel air pressure, a battery remaining amount, a battery temperature, a passenger's center of gravity position, and the like. The information acquisition unit 53 is a sensor (battery voltmeter, thermometer, angle detection sensor 8, rotation sensor 13R, 13L, attitude sensor unit 12, step sensor) provided on the inverted moving body 10 with these weather information and moving body information. 7R, 7L, etc.). The information acquisition unit 53 outputs the acquired usage environment information to the evaluation unit 54.

  The evaluation unit 54 is a specific example of an evaluation unit, and evaluates the usage environment information output from the information acquisition unit 53. For example, the evaluation unit 54 compares the usage environment information from the information acquisition unit 53 with a predetermined reference value set in advance, so that the usage environment information is good, equivalent (standard state), or bad. To evaluate.

  More specifically, the evaluation unit 54 evaluates that the remaining battery level is good when the remaining battery level from the information acquisition unit 53 is greater than or equal to the first predetermined reference value (when the remaining battery level is sufficient). To do. On the other hand, when the remaining battery level from the information acquisition unit 53 is equal to or less than the second predetermined reference value (when the remaining battery level is insufficient), the evaluation unit 54 evaluates that the remaining battery level is bad. The evaluation unit 54 is when the remaining battery level from the information acquisition unit 53 is larger than the second predetermined reference value and smaller than the first predetermined reference value (when the remaining battery level is in a standard state (for example, about 50 to 70%)). ) And evaluate that the remaining battery charge is equivalent.

  When the weight of the occupant from the information acquisition unit 53 (hereinafter referred to as occupant weight) is equal to or greater than the first predetermined reference value (when the occupant weight is heavier than normal), the evaluation unit 54 has a poor occupant weight. And evaluate. On the other hand, the evaluation unit 54 evaluates that the passenger weight is good when the passenger weight from the information acquisition unit 53 is equal to or less than the second predetermined reference value (when the passenger weight is lighter than usual). When the passenger weight from the information acquisition unit 53 is larger than the second predetermined reference value and smaller than the first predetermined reference value, the evaluation unit 54 evaluates that the passenger weight is equivalent.

When the pitch angle change amount from the information acquisition unit 53 is equal to or larger than the first predetermined reference value (when the inverted mobile body 10 is shaken and unstable), the evaluation unit 54 has a poor pitch angle change amount. And evaluate. On the other hand, when the pitch angle change amount from the information acquisition unit 53 is equal to or smaller than the second predetermined reference value (when the inverted mobile body 10 is stable without shaking), the evaluation unit 54 has a good pitch angle change amount. Evaluate that there is. When the pitch angle change amount from the information acquisition unit 53 is larger than the second predetermined reference value and smaller than the first predetermined reference value, the evaluation unit 54 evaluates that the pitch angle change amount is equivalent.
In addition, the said evaluation method is an example, Not only this but arbitrary evaluation methods are applicable. The evaluation unit 54 outputs the evaluation result of the usage environment information to the state estimation unit 51.

The state estimation unit 51 changes the map information described above according to the evaluation result output from the evaluation unit 54. The state estimation unit 51 increases or decreases, for example, the first and second limit lines L2 in the two-dimensional coordinate system of the map information from the initial setting value according to the evaluation result output from the evaluation unit 54. In addition, as the initial setting value, for example, a standard value for normally running the inverted moving body 10 is set.
As shown in FIG. 4, in the two-dimensional coordinate system of the map information, the rotational speeds and torque command values of the wheel drive motors 31R and 31L are within the map area (in the shaded area) by the first and second limit lines L1 and L2. Limited (motor output limit).
For example, the first limit line L1 of the first quadrant is increased (translated upward), the first limit line L1 of the third quadrant is decreased (translated downward) so that the map area is enlarged, and the second The second limit line L2 in the quadrant is increased (translated upward) and / or the second limit line L2 in the fourth quadrant is decreased (translated downward). In this case, the absolute values of the rotational speeds and torque command values of the wheel drive motors 31R and 31L can be larger than usual, and the motor output restriction is relaxed.
On the other hand, the first limit line L1 of the first quadrant is decreased, the first limit line L1 of the third quadrant is increased, and the second limit line L2 of the second quadrant is decreased so that the map area is reduced. And / or increase the second limit line L2 of the fourth quadrant. In this case, the absolute values of the rotational speeds and torque command values of the wheel drive motors 31R and 31L are limited to smaller values, and the motor output limit becomes stricter than usual. According to the present embodiment, the map area optimum for the use environment is determined by increasing or decreasing the first and second limit lines L1 and L2 in the two-dimensional coordinate system of the map information according to the evaluation result of the use environment information. Can be set.

  For example, when the evaluation unit 54 evaluates that the remaining battery level is good, the state estimation unit 51 increases the first limit line L1 in the first quadrant so that the map area in the two-dimensional coordinate system of the map information is expanded. , Decrease the first limit line L1 in the third quadrant, increase the second limit line L2 in the second quadrant, and / or decrease the second limit line L2 in the fourth quadrant. As a result, when the remaining battery capacity is sufficient, the output performance can be improved by enlarging the map area and relaxing the motor output restriction.

  On the other hand, when the evaluation unit 54 evaluates that the remaining battery level is bad, the state estimation unit 51 first reduces the map area in the two-dimensional coordinate system of map information (the hatched portion in FIG. 4). Decrease the first limit line L1 of the quadrant, increase the first limit line L1 of the third quadrant, decrease the second limit line L2 of the second quadrant, and / or the second limit line L2 of the fourth quadrant increase. Thereby, when the battery remaining amount is insufficient, the continuity of the inversion control is ensured by reducing the map area and tightening the motor output limit. As described above, the control device 5 according to the present embodiment can achieve both the continuity of the inverted control and the output performance by performing the motor output restriction according to the remaining battery level (usage environment).

  The state estimation unit 51 may change the change amount of the map information according to the evaluation result output from the evaluation unit 54. Based on the evaluation result output from the evaluation unit 54 and the difference between the usage environment information and the predetermined reference value, the state estimation unit 51, for example, first and second limit lines in the two-dimensional coordinate system of the map information The increase / decrease amount of L1 and L2 is changed. More specifically, the state estimation unit 51 determines the first and second limit lines L1 and L2 in the two-dimensional coordinate system of the map information as the difference value between the usage environment information and the predetermined reference value increases. Increase the amount of increase / decrease.

  When the evaluation unit 54 evaluates that the remaining battery level is good, the state estimation unit 51 increases the difference between the remaining battery level and the first predetermined reference value in accordance with the first quadrant of the first quadrant. Even if the limit line L1 is increased, the first limit line L1 of the third quadrant is decreased, the second limit line L2 of the second quadrant is increased, and / or the second limit line L2 of the fourth quadrant is decreased Good. On the other hand, when the evaluation unit 54 evaluates that the remaining battery level is bad, the state estimating unit 51 increases the difference between the remaining battery level and the second predetermined reference value as the first quadrant. Decreasing the first limit line L1, increasing the first limit line L1 in the third quadrant, decreasing the second limit line L2 in the second quadrant, and / or increasing the second limit line L2 in the fourth quadrant May be. In the above example, the case where the battery remaining amount is applied as the usage environment information has been described. However, the map information is also changed for other usage environment information in the same manner as described above.

  As described above, when the map information is changed, the state estimation unit 51 may notify the passenger of the change. The state estimation unit 51 notifies the user of the fact that the map information has been changed and / or the amount of change using a notification device such as a speaker device, a display device, a light device, or a vibration device. Thus, the user can recognize that the motor output performance has been changed according to the usage environment such as the remaining battery capacity and / or how much the output performance has changed.

  As described above, the control device 5 performs control switching, warning, or the like according to the operation state of the inverted moving body 10 comprehensively estimated by the state estimation unit 51. For example, the control device 5 warns the user using a warning device (vibration device, speaker, warning light, etc.) when the state estimation unit 51 estimates that the step overstep operation state or the sudden deceleration operation state. Further, the inversion control unit 52 of the control device 5 performs control to decrease the control gain and reduce the operation sensitivity of the operation handle 4 when the state estimation unit 51 estimates the sudden acceleration operation state. Thereby, the behavior of the inverted moving body 10 can be suppressed to be small, and safety can be improved.

  FIG. 5 is a diagram showing a flow of the operation state estimation method for the inverted moving body according to the present embodiment. Each rotation sensor 13R, 13L detects the number of rotations of each wheel drive motor 31R, 31L and outputs it to the state estimation unit 51. Based on the detection signal from the attitude sensor unit 12, the detection signal from the angle detection sensor 8, the foot detection signal from each step sensor 7R, 7L, the rotation information from each rotation sensor 13R, 13L, etc. A torque command signal is generated and output to the state estimation unit 51 (step S101).

  The information acquisition unit 53 acquires the usage environment information of the inverted mobile body 10 (step S102) and outputs it to the evaluation unit 54. The evaluation unit 54 evaluates whether the usage environment information output from the information acquisition unit 53 is good, equivalent, or defective (step S103), and outputs the evaluation result to the state estimation unit 51. The state estimation unit 51 changes the map information according to the evaluation result output from the evaluation unit 54 (step S104).

  The state estimation unit 51 is based on the number of rotations output from each of the rotation sensors 13R and 13L, the torque command signal for the wheel drive units 3R and 3L from the inversion control unit 52, and the map information from the storage device 5b. Then, the operating state of the inverted moving body 10 is estimated comprehensively (step S105).

  The state estimation unit 51 determines whether or not the coordinate values (the number of revolutions and the torque command signal) are within the power running operation state region (first and third quadrants) in the two-dimensional coordinate system of the map information (step S1) S106).

  When the state estimation unit 51 determines that the coordinate values (the number of revolutions and the torque command signal) are not within the region of the power running operation state (NO in step S106), the state estimation unit 51 determines that the coordinate value is within the region of the regenerative operation state (step S107). ).

  Next, the state estimation unit 51 determines whether or not the coordinate values (the number of revolutions and the torque command signal) are within the ultra instantaneous use region S3 in the two-dimensional coordinate system of the map information (Step S108). When the state estimation unit 51 determines that the coordinate values (the number of revolutions and the torque command signal) are within the ultra-instantaneous use region S3 (YES in step S108), the inverted moving body 10 estimates that it is in a sudden deceleration operation state (step S108). S109).

  When the state estimation unit 51 determines that the coordinate value (rotation speed, torque command signal) is not within the ultra-instantaneous use area S3 (NO in step S108), the coordinate value (rotation speed, torque command signal) is the instantaneous use area. It is determined whether or not it is within S3 (step S110). When the state estimation unit 51 determines that the coordinate values (the number of revolutions and the torque command signal) are within the instantaneous use region S2 (YES in step S110), the state estimation unit 51 estimates that the inverted moving body 10 is in the deceleration operation state (step S111). ).

  When the state estimation unit 51 determines that the coordinate value (rotation speed, torque command signal) is not in the instantaneous use region S2 (NO in step S110), the state estimation unit 51 determines that the coordinate value is in the steady use region S1 (step S112). It is estimated that the inverted moving body 10 is in the downhill cruise operation state (step S113).

  When the state estimation unit 51 determines that the coordinate value (rotation speed, torque command signal) is within the region of the power running operation state (YES in step S106), the coordinate value (rotation speed, torque command signal) is ultra-instantaneous. It is determined whether or not it is within the use area S3 (step S114). When the state estimation unit 51 determines that the coordinate values (the number of revolutions and the torque command signal) are within the ultra-instantaneous use region S3 (YES in step S114), the inverted moving body 10 is in the step-over operation state (or rapid acceleration). (Operation state) is estimated (step S115).

  When the state estimation unit 51 determines that the coordinate value (rotation speed, torque command signal) is not in the super instantaneous use area S3 (NO in step S114), the coordinate value (rotation speed, torque command signal) is in the instantaneous use area. It is determined whether or not it is within S2 (step S116). When the state estimation unit 51 determines that the coordinate values (the number of revolutions and the torque command signal) are within the instantaneous use region S2 (YES in step S116), the inverted moving body 10 is estimated to be in the acceleration operation state (step S117). ).

  When the state estimation unit 51 determines that the coordinate value (rotation speed, torque command signal) is not in the instantaneous use region S2 (NO in step S116), the state estimation unit 51 determines that it is in the steady use region S1 (step S118). It is estimated that the inverted moving body 10 is in a flatland / hill climbing operation state (step S119).

  In addition, the processing flow of the said operation state estimation method is an example, and is not limited to this. For example, after determining the regions of the power running operation state and the regenerative operation state, the super instantaneous use region S3, the instantaneous use region S2, and the steady use region S1 are determined. After performing the determination of S2 and the steady use region S1, the regions of the power running operation state and the regenerative operation state may be determined.

  As described above, according to the inverted moving body 10 according to the present embodiment, the rotation information output from the rotation sensors 13R and 13L, the torque information for the wheel drive units 3R and 3L, and the preset wheel drive unit 3R. The operating state of the inverted mobile body 10 can be comprehensively estimated based on the map information indicating the predetermined relationship between the 3L rotation information and torque information and the operating state of the inverted mobile body 10. Furthermore, according to the inverted moving body 10 according to the present embodiment, the map information is changed according to the evaluation result of the usage environment information of the inverted moving body 10. Thereby, the continuity of the inverted control and the output performance can be compatible by performing the motor output restriction according to the usage environment of the inverted moving body 10.

  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, in the above-described embodiment, the state estimation unit 51 estimates the current operating state of the inverted moving body 10, but is not limited to this, and the future inverted moving body 10 after a predetermined time has elapsed. The operating state may be estimated. Further, the map information does not necessarily include three areas, and may include at least two areas. In addition, about the use area | region in map information, although it is the shape divided | segmented using the straight line in the said embodiment, the shape (concentric circular shape) divided | segmented using a curve may be sufficient. Further, for each operation state, it is possible to appropriately change the estimated contents according to the size and shape of the use area set in advance in the map information.

  Based on the rotational speeds output from the rotation sensors 13R and 13L and the torque command signals for the wheel drive units 3R and 3L, the state estimation unit 51 uses the coordinate values (rotational speeds) in the two-dimensional coordinate system of the map information. , Torque command signal) locus is calculated. Then, based on the calculated locus, the state estimation unit 51 calculates coordinate values (rotation speed, torque command signal) after elapse of a predetermined time, and determines in which region the calculated coordinate values are. The state estimation unit 51 estimates an operation state corresponding to the determined area as a future operation state of the inverted mobile body 10 after a predetermined time has elapsed.

  Note that the state estimation unit 51 calculates, for example, a relational expression of an approximate line of a path before a predetermined time based on the locus of coordinate values (rotation speed, torque command signal), and uses the calculated approximate relational expression. Coordinate values (revolution speed, torque command signal) after elapse of a predetermined time may be calculated, and any calculation method can be applied. As described above, it is possible to perform control switching or warning at an earlier timing by estimating the future operating state of the inverted mobile body 10 after a predetermined time has elapsed, leading to an improvement in safety.

  In addition, the present invention can also realize, for example, the processing shown in FIG. 5 by causing the CPU to execute a computer program.

  The program may be stored using various types of non-transitory computer readable media and supplied to a computer. Non-transitory computer readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (for example, flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (for example, magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / W and semiconductor memory (for example, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (random access memory)) are included.

  The program may also be supplied to the computer by various types of transitory computer readable media. Examples of transitory computer readable media include electrical signals, optical signals, and electromagnetic waves. The temporary computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire and an optical fiber, or a wireless communication path.

DESCRIPTION OF SYMBOLS 1 Vehicle main body 2R, 2L wheel 3R, 3L wheel drive unit 4 Operation handle 5 Control apparatus 10 Inverted type mobile body 51 State estimation part 52 Inverted control part 53 Information acquisition part 54 Evaluation part

Claims (1)

An inverted moving body that travels by driving a motor while maintaining an inverted state,
First detection means for detecting rotation information of the motor;
Second detection means for detecting torque information of the motor;
A predetermined relationship between the rotation information and torque information of the motor detected by the first and second detection means, a preset value of rotation information and torque information of the motor, and an operating state of the inverted moving body. Estimation means for estimating an operating state of the inverted moving body based on map information shown;
Information acquisition means for acquiring usage environment information of the inverted mobile body;
With
It said estimating means, according to the acquired usage environment information by the information acquisition means, to change the map information,
In the coordinate system indicating the map information, areas indicating the operation state of the inverted moving body are respectively set.
The region is
A first region that is concentrically set around the origin of the coordinate system and in which the motor continuously outputs the rotation information and torque information in the region for a first predetermined time period;
A second region that is set outside the first region and in which the motor outputs the rotation information and torque information within the region for a second predetermined time shorter than the first predetermined time;
A third region that is set outside the second region and in which the motor outputs the rotation information and torque information within the region for a third predetermined time shorter than the second predetermined time ,
An inverted moving body characterized by that.

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