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WO2016163035A1 - Interface de commande de châssis mobile - Google Patents

Interface de commande de châssis mobile Download PDF

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Publication number
WO2016163035A1
WO2016163035A1 PCT/JP2015/061920 JP2015061920W WO2016163035A1 WO 2016163035 A1 WO2016163035 A1 WO 2016163035A1 JP 2015061920 W JP2015061920 W JP 2015061920W WO 2016163035 A1 WO2016163035 A1 WO 2016163035A1
Authority
WO
WIPO (PCT)
Prior art keywords
mode
moving
coordinate
control interface
movement
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2015/061920
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English (en)
Japanese (ja)
Inventor
大島　章
宏泰 城吉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Doog Inc
Original Assignee
Doog Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Doog Inc filed Critical Doog Inc
Priority to PCT/JP2015/061920 priority Critical patent/WO2016163035A1/fr
Priority to JP2017511444A priority patent/JPWO2016163035A1/ja
Publication of WO2016163035A1 publication Critical patent/WO2016163035A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
    • B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present invention relates to a control interface of a movable case capable of forward and backward movement, curving, and in-situ turning operation of the movable case by independently controlling forward rotation and reverse rotation of a plurality of drive wheels.
  • the moving case may be, for example, an electric wheelchair, a crawler robot, or an omnidirectional moving vehicle using an omni wheel.
  • an interface which can be controlled by a passenger operating a joystick.
  • joystick operation it is general to assign forward / backward operation to forward / backward movement of the moving case and left / right operation to rotational movement of the moving case, and the following proposal is made from the idea that this is insufficient It has been.
  • Patent Document 1 discloses a control interface for temporarily changing the state in which only a reverse operation is possible by using a reverse switching device different from the joystick while prohibiting the travel in the reverse direction with respect to the danger of the reverse operation. providing.
  • Patent Document 2 when a new steering wheel type operation unit is mounted on a steering unit of a joystick-type electric wheelchair, switching means in a forward mode and a reverse mode and an accelerator means capable of instructing output in an absolute value are used.
  • a control interface is provided that simulates the operation system by the steering wheel operation by the signal conversion circuit.
  • Patent Document 1 it is indicated that "the confusion of the operator due to the change in the relationship between the joystick operation (at the time of backward movement) and the operation of the electric wheelchair by the state notification means is reduced". However, this does not substantially organize the working relationship, suggesting that user confusion remains.
  • the controller device of the electric wheelchair among the operations shown as the “fixed position rotation mode”, only “111d and 111e limited as turning on the spot”, the controller device of the electric wheelchair has set the control parameter in old times and the maximum speed at the time of reverse It is possible to simulate almost the same motion as the behavior of adjusting to zero, and it can be said that it is a category of the existing motion.
  • Patent Document 3 simulates the operability of a car (handle) without additional structural parts only by joystick operation, in the embodiment, the movement of "in-situ turning" is eliminated. It can be said that the traveling performance of the original moving case is impaired.
  • centrifugal force and wheel speed restrictions for improving driving safety have been shown to be implemented for the finalized output, the same restrictions apply to all users. It will be implemented. However, one limitation is not safe and comfortable for all users.
  • control of the moving case is premised only on the operation mode which the user directly operates, in order to improve safety and efficiency, a sensor for detecting the surrounding situation
  • a sensor for detecting the surrounding situation Implementation of a system, a follow-up operation mode or a semi-autonomous operation mode based on sensor data, an appropriate operation interface when using the same, and an implementation of a control interface into which these can be incorporated are also issues.
  • control interface for a movable housing capable of moving by two or more prime movers being controlled independently for forward rotation and reverse rotation, and capable of moving forward / backward, curve, and in-situ turning
  • the moving case has a multi-dimensional input device and a plurality of movement modes, and the multi-dimensional input device receives an operation state as operation coordinates in the multi-dimensional space, and the plurality of movement modes are set as a predetermined operation coordinate range
  • the movement mode is switched using the multidimensional input device, and the movement mode makes the movement case different movement operation for arbitrary operation coordinate input, or the movement mode is any operation coordinate within the operation coordinate range
  • the prime mover can control forward rotation and reverse rotation, and can move a moving case by rotating a tire, a crawler, or the like.
  • the moving housing has at least two prime movers, and by controlling each of them, it is possible to perform forward / backward movement, curving, and in-situ turning movement.
  • the multidimensional input device may be a joystick-type steering device as mentioned in the prior art.
  • the user may operate by touching a touch pad type information terminal.
  • These can be interpreted as two-dimensional steering devices, and the steering can be considered as being input as two-dimensional coordinates.
  • an input device such as a sensing device that directly detects a spatial position of a finger or a part of the user's body or a three-dimensional mouse including a rotation operation may be used as a three-dimensional steering device.
  • the movable case when the steering device indicates an input in the forward direction, the movable case is advanced, and when the input is in the backward direction, the movable case is retracted, and the movable case is moved according to the input in the lateral direction. It is common for the whole to rotate left or right and combine the front, rear, left and right inputs to generate an action.
  • an operation mode and a movement mode according to the usage scene of the moving case are defined in the moving case.
  • the corresponding operation coordinate range is set for each of the plurality of movement modes, and a multidimensional input device is used to switch the movement mode.
  • FIG. 19 shows an example of the operation mode and movement mode in the present invention.
  • the direct operation mode for direct operation of the moving case there are forward mode, reverse mode, and neutral mode as the moving mode.
  • the movement housing performs different movement operations with respect to any operation coordinate input according to the movement mode applied to the movement housing.
  • the vehicle when the forward mode is applied, the vehicle does not retreat or suppress even when the backward input is made, but when the backward mode is applied, the vehicle retreats according to the backward input.
  • a start mode, an end mode, a pause mode, a traveling direction, a course selection mode and the like are assigned as movement modes. These movement modes make the moving case a single movement operation at any operation coordinate input within the operation coordinate range.
  • the safety operation mode means that the assistance such as deceleration or stop is automatically performed based on the data of the sensing device in the direct operation mode.
  • the neutral mode is a mode for switching the movement mode of the movable casing. For example, when the user wants to shift from the forward mode to the reverse mode, the mode can be switched once via the neutral mode. Similar to neutral in the mission of the car, the mode is switched based on the user's intention.
  • a multi-step selective speed mode which is selected according to the user's preference to switch the maximum speed for operation from the multidimensional input device Do.
  • a stepwise limit for each user according to the speed mode is applied.
  • an operation mode using the sensing device In a mobile chassis provided with a sensing device attached to the mobile chassis and a control device capable of processing sensor data from the sensing device and outputting a control signal to the motor, an operation mode using the sensing device according to the user's intention
  • the configuration can be switched to.
  • the operation mode using the sensing device is configured to move, for example, avoiding an obstacle, or to travel along a road, a corridor, along a point marker, or along a line marker, based on the information of the sensing device.
  • a specific person or another moving case may be recognized by the sensing device, and may be configured to be able to specify and follow the position.
  • the position of the moving case may be compared with a map held inside to be able to automatically move toward a destination. Also, when it is judged by the sensing device that the moving case is likely to come in contact with a pedestrian or other moving case, deceleration, stop or avoidance without following the direct steering instruction by the user's joystick operation It may be configured to take action.
  • the movement mode can be instructed to start, end, pause, and select the traveling direction or the course.
  • the present invention it is possible to easily input various different operation commands by switching and operating a plurality of movement modes with only the multidimensional input device in each operation mode.
  • a simple and intuitive control interface can be provided.
  • switching the movement mode it is possible to provide an easy-to-steer interface without sacrificing the movement performance as the movement case.
  • the output limitation is applied to each of the speed modes consisting of a plurality of steps, so that it is possible to realize a mobile chassis that is easy to use and safe for many people.
  • the control by the user and the autonomous traveling function of the movable housing coexist, and a flexible and easy-to-steer control interface can be provided.
  • the introduction of the relay interface enables the construction of additional functions such as positioning, follow-up and automatic driving, and cooperation between the joystick operation by the user and automatic control, leading to improvement in safety and convenience.
  • FIG. 1 is an external view of an electric wheelchair type which is a moving case.
  • FIG. 2 is a front view of the moving case, and
  • FIG. 3 is a left side view of the moving case.
  • FIGS. 1 to 3 in FIGS. 1 to 3 is a moving case, and in this embodiment, a moving case of a wheelchair type.
  • Reference numeral 5 in FIG. 1 is a seat for a passenger.
  • the moving case has a drive wheel 21 for moving, a caster 22, and a motor 20 for rotating the drive wheel 21.
  • the prime mover 20 is an electric motor in this embodiment, and an electric motor is attached to the left and right to drive each of the two oppositely facing drive wheels, and the drive wheel 21 is rotated forward and reverse via the reduction mechanism. It is possible to operate the short circuit between terminals and the release free between terminals.
  • the movable housing 1 can perform operations such as forward movement, backward movement, curve, and in-situ turning.
  • the prime mover may drive not the drive wheels but the crawlers.
  • crawlers improves the leveling ability and enables movement on uneven terrain.
  • a plurality of types capable of omnidirectional movement may be adopted as the oscillating wheel. When an omnidirectional movement type drive wheel is adopted, movement etc. in the lateral direction becomes possible.
  • a locking structure by an electromagnetic brake or a lever mechanism may be provided around the motor 20.
  • a joystick 3 shown in FIGS. 1 to 3 is used as a multi-dimensional input device in this embodiment.
  • the traveling direction and speed intended by the operator can be reflected on the moving case according to the tilting angle and tilting direction of the joystick 3.
  • it has an operation button and other input means, and has a speed mode function capable of selecting an installation value such as maximum speed or acceleration in a plurality of steps.
  • a touch pad type smart terminal may be touched to be steered, or maneuvers may be performed with the movement or mouth of a foot, a face or an eye. These can be interpreted as two-dimensional steering devices, and the steering can be considered as being input as two-dimensional coordinates.
  • a sensing device that directly detects the spatial position of a finger or a part of the pilot's body or an input device such as a three-dimensional mouse may be used as a three-dimensional steering device. An example can be applied.
  • a scanner type laser distance sensor used as a sensing device is shown at 4 in FIGS.
  • a laser distance sensor capable of measuring shape data on a scanning plane is used to determine the position of an obstacle, to specify the position of a specific tracking target, or to compare the environment with a map to determine its own position on the map. used.
  • a sensing device a camera capable of acquiring a distance or an image, a stereo camera, a millimeter wave radar, an ultrasonic sensor, or the like can also be used.
  • FIG. 4 simply shows the overall system configuration in the present embodiment.
  • Information from the joystick 3 and the laser distance sensor 4 is input to the arithmetic unit 7, and a target command signal is sent from the arithmetic unit 7 to the driver unit 8 that drives the electric motor.
  • the target command signal sent to the driver device 8 can include, for example, a target velocity, a target acceleration, a target torque, a target voltage, and a target current.
  • the driver device 8 adjusts the current flowing to each of the electric motors 20 by adjusting, for example, forward rotation, reverse rotation, output magnitude, and brake based on the target command signal from the arithmetic device 7 to adjust the electric motors 20. To drive.
  • the rotation information of the electric motor 20 or the drive wheel 21 may be transmitted to the arithmetic device 7 by a pulse signal 81 or the like to be used for control.
  • the drive voltage may be adjusted by detecting the power supply voltage with the arithmetic device 7 or the driver device 8 so that the output to the motor does not change due to the fluctuation of the power supply voltage for driving supplied to the driver device 8.
  • the current flowing through the electric motor 20 is detected by the arithmetic device 7 or the driver device 8 so that the drive is adjusted so that the output to the motor does not change due to the change of the external load to the moving case including uphill and downhill. It may be configured to Although not shown, a power supply for operating each element is provided.
  • each signal path may include battery information, speed mode information, information on motor rotation state, and input information on an attached button.
  • the separation of the functions of the arithmetic device 7 and the driver device 8 is not limited to this, as long as the two devices provide one function.
  • FIG. 5 shows the details of the joystick 3 used as a multi-dimensional input device in the present embodiment.
  • the joystick 3 mainly includes a lever 31 and a display operation unit 33.
  • the display / operation unit 33 can display the state of the moving case and the applied movement mode, and can perform operations such as setting.
  • the driver controls the traveling direction and speed of the moving case by tilting the lever 31.
  • Reference numeral 311 denotes a tilt angle L when the lever 31 is tilted, which is limited within a predetermined movable range of the lever 31.
  • the tilt angle L is expressed as a ratio to the maximum tilt angle for convenience. That is, the tilt angle L at the movable range limit is set to 1, and the tilt angle L is expressed in the range of 0 to 1.
  • the multi-dimensional input range does not necessarily have to be configured to be a true circle with a constant radius, and may be an ellipse or a polygon.
  • FIG. 6 is a view of the joystick 3 viewed from directly above, and the upper direction of FIG. 6 is the traveling direction of the movable housing.
  • FIG. 6 shows coordinate axes when the lever 31 of the joystick 3 is placed at the origin. Shown at 312 is an example when the lever 31 is tilted forward to the left.
  • the direction of movement of the movable casing is expressed as the x direction
  • the direction rotated 90 degrees counterclockwise from the direction of movement is expressed as the y direction.
  • the tilting direction of the lever 31 is expressed by the counterclockwise angle when the x-axis is 0 degree.
  • the inclination angle is 0 degrees, 90 degrees when the lever 31 is inclined left to the advancing direction, and when the lever 31 is inclined to the right. Expressed at 90 degrees.
  • the lever 31 is knocked down directly behind, it is expressed as 180 degrees or -180.
  • a coordinate expressing method when the lever 31 is turned in the direction of 312 in FIG. 6 will be described with reference to FIG.
  • the tilting direction ⁇ of this operation is 45 degrees.
  • the fall angle L is 0.8.
  • the operation information can be expressed using the falling direction ⁇ and the falling angle L.
  • the operation information can be interpreted as being expressed in the polar coordinate system of ⁇ and L, and this can be converted using the following equation 1 when converting it to xy coordinates.
  • the neutral mode is a mode for selecting another mode.
  • the forward operation mode is applied because the operation coordinates of the lever operation are moved to the forward mode area 61.
  • the advance mode is applied, only the forward operation or the in-situ turning operation can be performed unless the lever operation moves to the neutral mode area 60. That is, when the advance mode is applied, the reverse operation is not performed even if the lever is turned backward.
  • the lever In order to perform the reverse operation, the lever is once returned, the neutral position is applied when the operation coordinates enter the area of the neutral mode, the lever is further tilted backward, and the motion coordinates are moved to the reverse mode area 62 so as to reverse. Apply the mode and perform the reverse operation. As in the forward mode, when the reverse mode is applied, the forward operation is not performed even if the control lever is turned forward. By switching the mode once via the neutral mode, it is possible to realize an easy-to-operate control interface similar to the operation of a car.
  • the switching to the neutral mode can also be set to perform switching of the mode when the operation coordinates stay within a predetermined coordinate range for a predetermined time.
  • the neutral mode is applied.
  • it is possible to prevent a false operation against the driver's intention in the mode switching.
  • it may be configured to notify the operator that the mode has been switched by noting that the mode has been switched on the display / operation unit 33 or by emitting an operation sound.
  • the shape of the neutral mode area 60 is not limited to a circle, and may be a polygon.
  • the forward mode area 61 and the reverse mode area 62 are not limited to a fan shape, and may be a polygon. These three areas do not necessarily have to be adjacent, and may be arranged independently or in duplicate.
  • the movement mode may be switched only at the place where there is no duplication.
  • the present operation mode is characterized in that the multidimensional input device is used to switch the movement mode, and the movement mode makes the movement case different in movement operation with respect to arbitrary operation coordinate input.
  • the forward mode will be described with reference to FIG.
  • a forward area 611 and an in-situ rotating area 612, 613 are provided. If the tilting direction ⁇ shown in the advancing area 611 in FIG. 9 is within a range of ⁇ 90 degrees, the output from the operation coordinates to the motor can be determined based on, for example, the following Equation 2 as in the prior art.
  • Equation 2 v is the target translational movement speed of the moving housing, and ⁇ is the target rotational speed.
  • V max is the maximum translational velocity or limited translational velocity of the moving housing predetermined for each velocity mode, and similarly, ⁇ max is the maximum rotational velocity or maximum limiting rotation of the moving casing predetermined for each velocity mode It is speed.
  • the arithmetic device determines the target rotational speed of each motor and outputs a control signal of the motor.
  • the translational acceleration and the rotational acceleration may be simultaneously calculated and determined, or may be configured to adopt a preset value.
  • the moving case In the forward mode, by assigning the rear range to the in-situ turning motion, the moving case will not stop against the driver's intention, and it will not move backward when using a sensing device whose rear is blind. Safety is increased.
  • the reverse mode will be described with reference to FIG.
  • a reverse area 621 a suppression area 622 and a stop area 623 are provided.
  • the output to the prime mover can be determined using Equation 5 below.
  • the output to the prime mover may be determined by reversing the left and right of the operation coordinates as shown in the following Equation 6.
  • the movable case can be moved in the direction in which the lever is turned down, which facilitates steering.
  • the operation method that applies Formula 3 or Formula 4 to the entire operation range without using the mode switching as in the past, and the reverse mode using the mode switching described above As to which of the above Equation 5 and Equation 6 is to be applied it may be configured to be able to select from two or more settings.
  • the output to the motor is set to 0, and the moving case is stopped. That is, even if the lever 31 is pushed forward in the reverse mode, it does not move forward, and stops at that point. Furthermore, when the operation coordinates are in the suppression area 622 located between the backward area 621 and the stop area 623, the movement of the moving case is suppressed. For example, as the tilting direction of the lever 31 in the suppression area 622 approaches +90 degrees and -90 degrees from near +135 degrees and -135 degrees, the target translational speed v of the moving casing and the target rotational speed ⁇ have coefficients of less than 1 and 0 or more To reduce the output value at the same rate.
  • the movement of the moving case is suppressed as the x coordinate of the operation coordinate approaches 0, and the movement of the moving case is rapidly changed at the boundary of the reverse area 621 by the backward movement being continuously suppressed. Can be avoided. Further, by not including the in-situ turning movement in the reverse mode, it is possible to prevent confusion of the pilot in which the rotational direction of the in-situ turning reverses in the forward mode and the reverse mode when Equation 6 is selected.
  • the area setting shown in FIG. 9 and FIG. 10 is not limited to this, and can be expressed by any shape.
  • the y-axis of the operation coordinates and the target rotational speed may be defined by a relational expression that is not a linear function.
  • the relational expression shown in the following equation 7 can be used.
  • Equation 7 the sign function returns the sign of the input value, and the coefficient a is a real number of 1 or more.
  • a is 1.5
  • the abscissa represents the absolute value of the y-coordinate of the operation coordinates
  • the ordinate represents the ratio of the absolute value of the target rotational speed to the maximum rotational speed as a percentage.
  • What is shown in the graph 111 is a case defined by a linear function as shown in the equation 2, and a case 112 is shown in the case where it is defined by a relational equation which is not a linear function shown in the equation 7.
  • the rate of change of the target rotational speed with respect to the y coordinate is constant, whereas when defined by the equation 7, the rate of change of the target rotational speed is within the range where the absolute value of the y coordinate is small. In the range which is small and the absolute value of the y coordinate is large, the change rate of the target rotational speed is also large.
  • Equation 7 although the power of the coordinate value is used as the relational expression, a polynomial, an exponential function, a trigonometric function, or the like may be used as a mathematical function other than a linear function as a mathematical function that is not a linear function.
  • the rotational acceleration is not a constant, and the rotational acceleration is small in the range where the absolute value of the operation coordinate is small, and the rotational acceleration is increased in the range where the absolute value of the operation coordinate is large.
  • a linear function may be used, or a mathematical function or a discrete table may be used.
  • the rotational acceleration may be similarly adjusted, or a constant may be used, or calculation is performed so as to stop at a predetermined time according to the rotational speed immediately before deceleration or the current target rotational speed. You may set the numerical value.
  • the relationship between the coordinate values of the operation coordinates and the target velocity is not a linear function, but the application of the minimum target velocity in the prescribed time range, and for each prescribed time
  • a time delay function may be used to increase the target speed.
  • FIG. 12 shows an example of the restricted area represented on the operation coordinates and the restriction method.
  • the graph shown in FIG. 12 is two-dimensional operation coordinates, and the vertical axis and the horizontal axis are the absolute values
  • An example of the speed limit boundary is shown by a solid line 121 in the graph.
  • An area above the speed limit boundary 121 is a speed limit area.
  • the speed limit boundary 121 and the speed limit area can be expressed by, for example, the case where the limit threshold value b is 0.5 in the following Formula 8.
  • the speed limit boundary 121 can be expressed using, for example, the following Formula 9 and Formula 10 in addition to Formula 8, and one speed limit area may be configured by superimposing a plurality of these.
  • the limit thresholds c and d are set to arbitrary real numbers.
  • the operation coordinates are in an area other than the speed limit area, the operation coordinates are output without being changed.
  • An example of the limitation method when the operation coordinates enter the speed limit area will be described.
  • the operation coordinate is at 122 in FIG. 12, the operation coordinate is in the speed limit area, and the speed is limited.
  • the x coordinate and y coordinate of the operation coordinate 122 are reduced at the same ratio so as to be located on the speed limit boundary 121, and the coordinates of the point 123 on the speed limit boundary 121 are adopted as the final operation coordinates. .
  • the coordinates of the intersection of the straight line connecting the operation coordinates 122 and the origin and the speed limit boundary 121 are adopted as the final operation coordinates.
  • the reduction at the same rate may be configured to be reduced to a smaller value such as a point 124.
  • it is converted into a ratio when the speed limit boundary is 100%, using "the length from the origin to the point 123 / the length from the origin to the operation coordinate 122" as a coefficient.
  • the speed limit area is applied as a slower speed, and a person with confidence in steering steers.
  • the fast speed mode the restricted area is also applied as a fast speed, so it is suitable for many users, not one speed limit based on the movement limit of the moving case as in the prior art. It is possible to build the speed limit provided.
  • the speed mode is configured to be selectable by the operation button or other input means as described above, the operation used for the normal selection only when selecting a speed mode larger or smaller than the arbitrary speed mode.
  • the speed mode including a plurality of steps is, for example, five steps, the speed modes 1 to 3 are configured not to perform reverse travel consisting of Equation 2 and Equation 3 in order to realize easy operability.
  • the speed modes 4 to 5 are specially configured to use a movement mode consisting of Formula 5 and Formula 6.
  • Speeds 1 to 3 can be selected by the operation button or input means used for normal speed mode selection, but when selecting the speed modes 4 to 5, an operator using a simple operation is required by requiring different operations. It is possible to easily shake the operator who uses a configuration that is not simple operation.
  • a laser distance sensor is used as a sensing device.
  • two laser distance sensors are vertically disposed to perform sensing around the traveling front.
  • the image figure of sensing data is shown in FIG.
  • the laser distance sensor 131 is a device that senses the position or the shape of an object by measuring the distance to the object on the scanning surface.
  • the sensing possible area on the scanning surface is, for example, a measurable area in a certain area indicated by 132 in FIG.
  • the measurement data 133 and the measurement data 144 are measured.
  • the measurement data is updated at a constant cycle, and processing in the time direction can also detect, for example, the moving direction or moving speed of the pedestrian.
  • sensing data is used, and as an operation form different from the direct operation of the moving case by the multidimensional input device, any one or all of the safety operation mode, the compliant operation mode, and the semi-autonomous operation mode Make it possible to select one.
  • the safety operation mode is an operation mode for the purpose of avoiding a contact accident of the moving case or reducing the damage.
  • the moving case has a function of automatically braking and decelerating when it is determined that there is a risk of contact based on sensing data while the operator is operating with a multi-dimensional input device.
  • the output of the moving casing is dropped or braked to reduce the speed.
  • the strength of the brake is defined by Equation 11 below.
  • F brake is the strength of the brake, and depending on the degree of the strength of the brake, the output to the electric motor is simply reduced, the electric motor generates torque in the reverse direction, or different from the electric motor
  • D is the distance to the obstacle as shown in FIG. k 1 is a constant
  • the first term of Equation 11 is based on the idea that the brake strength is defined in inverse proportion to the distance to the obstacle. That is, when the distance to the obstacle is long, the brake is weak, and when the obstacle is near, the vehicle is decelerated by strong braking force.
  • V is the relative velocity between the obstacle and the moving housing, and it is also possible to consider the speed at which the obstacle approaches.
  • Equation 11 defines the strength of the brake by adding the first term that generates the braking force according to the distance and the second term that generates the braking force according to the relative speed.
  • the relative velocity is defined as positive when reducing the distance from each other, and as negative when increasing the distance from each other, and may be replaced as zero if negative, or after adding an offset in advance You may adjust the strength of the brake by relative speed by applying the replacement to zero or zero.
  • the absolute velocity of the moving casing or the absolute velocity of the obstacle may be multiplied by a constant to be added to the braking force.
  • the follow-up operation mode is a function of specifying the position of another moving case or a pedestrian to be followed using a sensing device and following it.
  • FIG. 14 shows an example of sensing data when two pedestrians are present in the detection area 132 which can be detected by the sensing device 131.
  • Reference numerals 141 and 142 denote pedestrian data, respectively, and the pedestrian 141 is followed as an object to be followed.
  • the object to be followed is followed by controlling the rotational speed and translational speed of the moving case.
  • the rotational speed can be controlled, for example, such that the object to be followed is in front of the moving case.
  • the following speed when following obediently, according to the distance to the subject of obedience, determine the following speed so that the speed is high when it is far from the subject to follow and keep the distance to the subject following when the subject approaches to the constant.
  • the pedestrian 142 other than the follow target and various obstacles are similarly detected by the sensing device, so that the follow target can be followed while avoiding the obstacle.
  • the start of follow-up and the follow-up target can be selected by the multidimensional input device. It is also possible to set the tracking target and start tracking from a state in which both the moving case and the tracking target stop. In addition, when the object to be followed is moving, the pilot may maneuver to a position where the operator can follow the object to follow, and start following from there. Furthermore, by operating the lever 31 in the middle of the follow-up operation mode, the follow-up operation mode may be temporarily stopped or stopped (ended) to shift to an operation by the operator or another operation mode. At this time, range setting and operation content may be defined by the above-described movement mode. Specifically, by inputting the area 151 of FIG.
  • the semi-autonomous operation mode is a function that allows the moving case to move safely and appropriately without the piloting operation by the operator.
  • a sensing device not only a laser distance sensor but also a camera capable of acquiring a distance or an image, an ultrasonic sensor, a millimeter wave radar, a GPS, or the like may be used.
  • a line, magnetic tape, a plurality of RFIDs, etc. are arranged in the determined moving path, and a line sensor or magnetic field is used on the moving case. By providing the sensor and the RFID reader, it is possible to configure so as to be able to travel a defined route.
  • the map of the movement route is held in advance, and the route to the destination instructed by the operator is automatically generated, and then the sensor data such as the laser distance sensor is compared with the marker information shown on the map to generate It is configured to arrive at the destination without leaving on the route that has been
  • the laser distance sensor can be used not only to compare environmental information and maps but also to detect obstacles.
  • an obstacle on the route may be avoided to realize safe autonomous traveling, or in the avoidance of the obstacle on the route, the operation by the driver temporarily Alternatively, it may be configured to shift to another operation mode, or may be configured to return to the follow-up operation mode again.
  • the present invention provides a control interface capable of coexistence of steering by a pilot and autonomous traveling. It is a control interface which continues traveling by operation by the pilot when the pilot instructs the aiming direction and route while encountering an obstacle which can not be avoided by dead end or autonomous traveling while traveling autonomously.
  • the operator can indicate the direction, route or start of traveling of the moving case using a multi-dimensional input device.
  • the moving case points in the designated direction, route or direction, and starts traveling along the road while avoiding obstacles.
  • the movable housing 161 at the start position of the semi-autonomous movement is instructed to go upward in FIG. 16 and performs autonomous traveling along the road in the upward direction.
  • the traveling environment is recognized by, for example, a laser distance sensor, and traveling along a road based on data of a road surface, a wall surface, and a point marker or line marker on the road surface.
  • a guide made of a retroreflective tape or retroreflective paint can be used as marker information.
  • the user While the user is traveling along the road, the user does not have to maneuver in particular, but when the moving case is stopped due to an obstacle or the like, the user operates the control lever 31 to temporarily make it semi-autonomous.
  • the operation mode is released, and the operation mode is shifted to the direct operation mode.
  • the multi-dimensional input device may be operated again to return to the traveling in the semi-autonomous operation mode again.
  • the semi-autonomous operation mode may be temporarily stopped or stopped (ended) to shift to a direct operation by the operator or another operation mode. It may be configured to return to the semi-autonomous operation mode again.
  • the mobile chassis is notified from the sensing data and the map or route information that it is a branch and notified to the operator.
  • the road is branched at the position of the moving case 163.
  • the operator uses the lever 31 to instruct the moving case on the direction to be advanced at a branch or intersection, and the moving case continues to make the way in the instructed direction, again the way in a semi-autonomous operation mode.
  • the operator selects the direction 165 or 166 using the lever 31 of the joystick, and then the road continues to travel in a semi-autonomous operation mode.
  • range setting and operation content may be defined by the above-described movement mode.
  • the area 171 in FIG. 17 is assigned as a dead zone, the area 172 is started, the area 173 is paused or stopped (ended), the direction 174 is selected as the area 174, and the direction 165 is selected as the area 175.
  • the T-junction not only the T-junction but also the crossroad may be selected by allocating the area 166 to the selection of the direction 166.
  • the shape of these areas is not limited to a circle or a sector, and the positional relationship can be set arbitrarily.
  • the neutral mode described above may be used in combination.
  • the system may be configured to automatically move to steering by the operator after notifying the operator. For example, when the following object is lost in the follow-up operation mode or the mark information is interrupted in the semi-autonomous operation mode, the operator is notified by a warning sound or display display by a buzzer. The pilot can receive notification and continue moving by manual steering, or can perform an operation for returning to the follow-up operation mode or the semi-autonomous operation mode.
  • the multi-dimensional input device is used to switch the movement mode, and the movement mode is characterized in that the movement case is made a single movement operation at any operation coordinate input within the operation coordinate range. It is.
  • the present invention by configuring in this manner, it is possible to provide a flexible and easy-to-steer control interface by allowing the pilot operation by the driver and the semi-autonomous operation mode of the movable housing to coexist.
  • FIG. 18 shows the arithmetic unit 7 described in FIG. 4 in more detail.
  • the arithmetic unit according to the present invention is constituted by the relay controller 180 and the host system 185, and the relay controller 180 transmits information on the state of the mobile chassis such as a steering signal to the host system 185, and generates command signals from the host system.
  • the relay controller 180 transmits information on the state of the mobile chassis such as a steering signal to the host system 185, and generates command signals from the host system.
  • the driver device 8 By modifying the information to be transmitted to the driver device 8 based on the function, it has a function of switching between the driving of the motor by the operation of the joystick 3 and the driving of the motor by each operation mode.
  • the steering signal of the joystick 3 used as a multidimensional input device is input to the relay controller 180, the target command signal of the electric motor is transmitted from the relay controller 180 to the driver device 8, and the driver device 8 supplies current to the electric motor. It is configured to be driven by flowing.
  • the switching means 182 is provided, and the signal outputted as the final steering signal by the switching means 182 is switched between the steering signal of the joystick 3 and the steering signal from the movement mode calculation unit 184. ing.
  • the steering signal by the driver is directly output as the target command to the driver device 8, and when employing the steering signal in each movement mode, for example, the movement mode After being replaced / modified based on a steering signal to which forward / backward mode, speed limit, each operation mode and the like have been applied, it is outputted as a target command to the driver device 8.
  • the host system 185 is a system that mainly performs processing calculation of the safety operation mode, the follow-up operation mode, and the semi-autonomous operation mode.
  • the sensing device and the GPS are input to the upper system 185, and the upper system 185 is responsible for the map reference function and the route generation function.
  • the host system 185 communicates with the relay controller 180 to receive, for example, information on the state of the movable housing such as a steering signal of the joystick 3 through the communication path 186 of the relay controller, and each command signal is transmitted through the communication path 187 Send to relay controller.
  • the switching means 182 may be implemented by a switch on the circuit or may be implemented on the software of the relay controller. Alternatively, even if the switching means 182 is omitted and the movement mode calculation unit 184 determines the presence or absence of the manipulation signal modification, the same function can be realized. Also, it may be configured to be switched according to the request of the host system or the other input of the pilot.
  • Each of the speed modes described above may be installed in either the relay controller 180 or the driver device 8. With such a configuration, it is possible to coexist the operation by the pilot with the traveling by each operation mode, and to realize the configuration of the controller of the control interface which is flexible and easy to operate. Of course, the present invention is not limited to these examples.
  • Example 1 of this invention It is the whole external appearance of Example 1 of this invention. It is a front view of Example 1 of the present invention. It is a side view of Example 1 of the present invention. It is a system configuration figure of Example 1 of the present invention. It is an external appearance of the joystick of Example 1 of this invention. It is the figure which looked at the joystick of Example 1 of this invention from the top. It is an example of the operation coordinate on the multidimensional space of Example 1 of this invention. It is an example of the coordinate area which selects the movement mode of Example 1 of this invention. It is an example of the coordinate area in the advancing mode of Example 1 of this invention. It is an example of the coordinate area in reverse mode of Example 1 of this invention.
  • Example 1 of this invention It is an example of the relationship of the y-axis of the operation coordinate in Example 1 of this invention, and a target rotational speed. It is an example of the speed limit in Example 1 of this invention. It is an example of the sensing data in the safety control form of Example 1 of this invention. It is an example of the sensing data in the tracking operation form of Example 1 of this invention. It is an example of the coordinate area in the following operation

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Abstract

Le problème décrit par la présente invention est de fournir une interface qui est facile à faire fonctionner, sans sacrifier la performance mobile d'un châssis mobile, et à obtenir un châssis mobile qui est sûr et facile à utiliser pour la plupart des personnes. En particulier, dans un mode de fonctionnement utilisant un dispositif de détection, l'invention vise à fournir une interface de commande pour permettre la coexistence d'un fonctionnement par un opérateur et d'un mode de fonctionnement de suivi ou d'un mode de fonctionnement semi-autonome d'un châssis mobile. La solution selon la présente invention concerne une interface de commande pour un châssis mobile comprenant un dispositif d'entrée à dimensions multiples et une pluralité de modes de mouvement, le dispositif d'entrée à dimensions multiples recevant un état de fonctionnement en termes de coordonnées de fonctionnement dans un espace multidimensionnel, la pluralité de modes de mouvement ont chacun une plage de coordonnées de fonctionnement correspondante définie pour ces derniers, le dispositif d'entrée à dimensions multiples est utilisé pour commuter les modes de mouvement, et les modes de mouvement, en réponse à l'entrée de coordonnées de fonctionnement arbitraires, amènent le châssis mobile à exécuter différentes opérations de mouvement, ou les modes de mouvement, en réponse à l'entrée de coordonnées de fonctionnement quelconques dans les plages de coordonnées de fonctionnement, amènent le châssis mobile à exécuter une opération de mouvement unique.
PCT/JP2015/061920 2015-04-07 2015-04-07 Interface de commande de châssis mobile Ceased WO2016163035A1 (fr)

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JP2021194037A (ja) * 2020-06-09 2021-12-27 パナソニックＩｐマネジメント株式会社 電動車いす
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JP2023049564A (ja) * 2021-09-29 2023-04-10 スズキ株式会社 電動車両の操舵制御装置
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WO2018099180A1 (fr) * 2016-11-29 2018-06-07 广州视源电子科技股份有限公司 Procédé de commande de fauteuil roulant électrique basé sur une bascule à effet hall et fauteuil roulant électrique
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JPWO2021059684A1 (fr) * 2019-09-25 2021-04-01
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JP2023049564A (ja) * 2021-09-29 2023-04-10 スズキ株式会社 電動車両の操舵制御装置
JP7700608B2 (ja) 2021-09-29 2025-07-01 スズキ株式会社 電動車両の操舵制御装置
JP2023137015A (ja) * 2022-03-17 2023-09-29 本田技研工業株式会社 乗り物

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