JP7121907B2 - 倒立型移動体 - Google Patents
倒立型移動体 Download PDFInfo
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- JP7121907B2 JP7121907B2 JP2018201027A JP2018201027A JP7121907B2 JP 7121907 B2 JP7121907 B2 JP 7121907B2 JP 2018201027 A JP2018201027 A JP 2018201027A JP 2018201027 A JP2018201027 A JP 2018201027A JP 7121907 B2 JP7121907 B2 JP 7121907B2
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- 238000000034 method Methods 0.000 description 7
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 229910001416 lithium ion Inorganic materials 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000000638 stimulation Effects 0.000 description 1
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Description
図1は、本実施形態に係る倒立型移動体100の概略構成を示す斜視図である。
倒立型移動体100は、車両本体110と、車両本体110に取り付けられ、搭乗者が搭乗する左右一対のステップ部120と、車両本体110に傾動可能に取り付けられ、搭乗者が把持する操作ハンドル130と、車両本体110に回転可能に取り付けられた左右一対の車輪150と、車輪150を駆動する駆動部160と、倒立型移動体100の搭乗者の足裏に振動を与える振動部170とを備えている。
駆動部160は、車両本体110に内蔵されており、電動モータや各種ギアを備えている。駆動部160は、制御装置220による制御のもと、倒立型移動体100を走行させるとともに、転倒しないように倒立制御を行う。
姿勢センサ201は、車両本体110に設けられ、車両本体110や操作ハンドル130等の姿勢情報を検出し出力する。姿勢センサ201は、倒立型移動体100の走行時における姿勢情報を検出するもので、例えば、ジャイロセンサ、加速度センサなどから構成される。搭乗者が操作ハンドル130を前方または後方に傾けると、各ステップ部120が同方向に傾くことになるが、この姿勢センサ201は、かかる傾斜に対応した姿勢情報(いわゆる三次元姿勢角など)を検出する。姿勢センサ201は、検出した姿勢情報を制御装置220に出力する。
振動制御部222は、入力部190の操作ボタン等から振動付与装置171の動作に関わる制御指示を受け取ると、かかる制御指示に従って振動付与装置171の動作を制御する制御信号を生成し、振動付与装置171に出力する。搭乗者は、操作ハンドル130の近傍に設置された操作ボタンやタッチパネル等を適宜操作(または音声入力)することで、走行中であっても停止中であっても、好みのタイミングで足裏を刺激することが可能となる。
振動制御部222は、姿勢センサ201から姿勢情報を受け取ると、姿勢データベース223に格納されている許容姿勢角度情報を参照して、振動付与装置171による振動の付与を許可するか否かを判断する。許容姿勢角度情報は、倒立型移動体100に振動を付与したとしても、走行に支障をきたさない等と判断できる姿勢角度の許容範囲をあらわす情報である。振動制御部222は、振動付与装置171による振動の付与を許可できると判断すると、姿勢センサ201から受け取った姿勢情報に基づき、振動の付与を開始(または継続)すべき旨の制御信号を生成し、振動付与装置171に出力する。
振動制御部222は、距離センサ203から出力される距離情報に基づき、振動付与装置171の動作を制御する制御信号を生成し、振動付与装置171に出力する。距離センサ203から出力される距離情報には、搭乗開始からの総移動距離を示す情報のほか、例えば信号待ちなど、直近で停止した位置からの移動距離を示す情報などが含まれる。振動制御部222は、距離センサ203から供給される距離情報をもとに、搭乗者の足裏の疲労蓄積度を推定する。振動制御部222は、推定した疲労蓄積度が設定されている閾値を超えていると判断すると、振動の付与を開始(または継続)すべき旨の制御信号を生成し、振動付与装置171に出力する。
振動制御部222は、タイマ205から出力される搭乗時間情報に基づき、振動付与装置171の動作を制御する制御信号を生成し、振動付与装置171に出力する。振動制御部222は、タイマ205から供給される搭乗時間情報をもとに、搭乗者の足裏の疲労蓄積度を推定する。振動制御部222は、推定した疲労蓄積度が設定されている閾値を超えていると判断すると、振動の付与を開始(または継続)すべき旨の制御信号を生成し、振動付与装置171に出力する。
図3は、振動制御処理を示すフローチャートである。
振動制御部222は、入力部190またはセンサ部200から出力される検出値等を受け取ると(ステップS1)、受け取った検出値等に基づき、振動の付与を開始または停止すべきタイミングが到来したか否かを判断する(ステップS2)。振動制御部222は、振動の付与を開始または停止すべきタイミングは到来していないと判断すると(ステップS2;NO)、ステップS1に戻る。一方、振動制御部222は、振動の付与を開始または停止すべきタイミングが到来したと判断すると(ステップS2;YES)、振動の付与を開始または停止すべき旨の制御信号を生成し(ステップS3)、振動付与装置171に出力したうえで、処理を終了する。
上述した実施形態では、搭乗者の足裏にマッサージ効果を与える構成を例示したが、足裏に加えて(代えて)、搭乗者の他の部位(例えば手)にマッサージ効果を与える構成を採用してもよい。
本発明は、上述した本実施形態に限定されるものではなく、本発明の要旨を逸脱しない範囲内において、他の様々な形で実施することができる。このため、上記実施形態はあらゆる点で単なる例示にすぎず、限定的に解釈されるものではない。例えば、上述した各処理ステップは処理内容に矛盾を生じない範囲で任意に順番を変更し、または並列に実行することができる。
Claims (8)
- 操縦時に搭乗者の足が載置され、進行方向の制御が可能なステップを備えた倒立型移動体であって、
前記ステップに振動を与える振動付与装置と、
前記振動付与装置の動作を制御する振動制御部と、
走行時における前記倒立型移動体の姿勢を検知する姿勢センサと、を具備し、
前記振動制御部は、検知される前記姿勢が、設定されている姿勢角度の許容範囲内にある場合に、前記振動付与装置による振動の付与を許容する、倒立型移動体。 - 操縦時に搭乗者の足が載置され、進行方向の制御が可能なステップを備えた倒立型移動体であって、
前記ステップに振動を与える振動付与装置と、
前記振動付与装置の動作を制御する振動制御部と、
走行時における前記倒立型移動体の姿勢を検知する姿勢センサと、を具備し、
前記振動制御部は、前記ステップに振動が付与されている状態において、検知される姿勢が、設定されている姿勢角度閾値を下回った場合に、前記振動付与装置による振動の付与を停止する、倒立型移動体。 - 前記振動の付与を開始または停止する前に、前記振動付与装置の動作内容を、前記搭乗者に報知する報知部をさらに備える、請求項1または2に記載の倒立型移動体。
- 前記搭乗者が把持する操作ハンドルと、前記操作ハンドルに振動を与える補助振動付与装置をさらに備える、請求項1または2に記載の倒立型移動体。
- 前記搭乗者が前記振動付与装置の動作に関わる制御指示を入力するための入力部をさらに備え、
前記振動制御部は、入力される前記制御指示に基づき、前記振動付与装置の動作を制御する、請求項1または2に記載の倒立型移動体。 - 前記倒立型移動体の移動距離を計測する距離センサをさらに備え、
前記振動制御部は、計時される前記移動距離に基づき、前記振動付与装置の動作を制御する、請求項1または2に記載の倒立型移動体。 - 前記搭乗者の搭乗時間を計時するタイマをさらに備え、
前記振動制御部は、計時される前記搭乗時間に基づき、前記振動付与装置の動作を制御する、請求項1または2に記載の倒立型移動体。 - 前記振動の付与を開始または停止する前に、前記搭乗者に対し、前記振動の付与を開始または停止してもよいか否かの判断を促す問い合わせメッセージを報知する報知部をさらに備える、請求項1または2に記載の倒立型移動体。
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