Moving body

Abstract

To provide a moving body that can exert high functionality in a variety of use applications.SOLUTION: A moving body comprises a body part 1 having a daily activity part 11, a body support part 2 supporting the body part, an operation part 12, and a control part 101 that controls an operation state of the moving body. The body support part comprises first and second rim parts 2L and 2R. Each of the first and second rim parts has a rim main body part 21 having a front-side hip joint part HJf and a rear-side hip joint part HJr, a front-side leg part 22f connected to the rim body part through the front-side hip joint part and a rear-side leg part 22r connected to the rim body part through the rear-side hip joint part. The control part executes direction maintaining control of maintaining a direction of the daily activity part constant at the moving time, and makes control accuracy in the direction maintaining control different between when an occupant operates the control part and when a third person other than the occupant operates the operation part.SELECTED DRAWING: Figure 15

Description

[Technical field]

[0001] The present invention relates to a moving object. [Background technology]

[0002] Patent Document 1 discloses a moving body having a living space where an occupant can sit, and a pair of arms or rims arranged on either side of the living space and formed in an overall arch shape. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2014-234137 A Summary of the Invention [Problem to be solved by the invention]

[0004] The mobile body disclosed in the above-mentioned document 1 has an arm portion arranged with an upward convex shape, and can run on the ground with wheels provided at both the front and rear ends of the arm portion. The living space is connected to the left and right arm portions via link members so that it can revolve, and the mobile body generates a revolving motion in the living space around the connecting shaft between the arm portion and the link while maintaining balance by appropriately forming three or four fulcrums with the auxiliary wheels provided on the bottom surface of the living space and the front and rear wheels. This allows the mobile body to not only run on flat roads, but also to overcome steps and other obstacles using crutches.

[0005] However, this known vehicle is primarily intended for the transportation of the occupant by himself / herself, and is not intended for use in transporting persons who have difficulty walking on their own, such as injured persons, persons in poor physical condition, etc. (hereinafter referred to as "persons with walking difficulties"). When transporting persons with walking difficulties, it is desirable to keep the orientation of the living space in which the person to be transported sits constant, specifically, horizontal, in order to reduce the burden on the person to be transported (i.e., the person with walking difficulties) during transport.

[0006] On the other hand, if the orientation of the living area were to be controlled with uniform precision regardless of usage conditions, there is a concern that the control load associated with maintaining the orientation of the living area during normal usage conditions for the purpose of moving the occupants themselves or transporting luggage, etc., would become excessive, which could result in a decrease in comfort for occupants in moving around or efficiency in transporting luggage.

[0007] In view of the above circumstances, an object of the present invention is to provide a mobile body that can realize appropriate control according to the usage situation of the mobile body and can exhibit high functionality in a variety of applications. [Means for solving the problem]

[0008] In order to solve the above problems, a moving body according to an embodiment of the present invention includes a main body having a living space on which an occupant can ride, a main body support part that supports the main body on the ground or floor during movement, an operation part, and a control part that controls the driving state of the moving body when the moving body moves with the occupant riding on the living space based on a signal from the operation part. The main body support part includes a first rim part and a second rim part that is arranged in the left-right direction with respect to the first rim part so as to sandwich the main body part between the first rim part and the second rim part and is connected to the first rim part via an axis part provided along an axis extending in the left-right direction, and each of the first rim part and the second rim part extends in the front-rear direction and includes a rim main body part having a first hip joint part formed on one end side in the front-rear direction and a second hip joint part formed on the other end side, a first leg part connected to the rim main body part via the first hip joint part so as to be able to be adduced and abducted, and a second leg part connected to the rim main body part via the second hip joint part so as to be able to be adduced and abducted. During the movement, the control unit performs orientation maintenance control to maintain a constant orientation of the living space by movement of the first and second legs including adduction and abduction at the hip joint, and differs in control accuracy of the orientation maintenance control between a first operation in which the operating unit is operated by an occupant riding in the living space and a second operation in which the operating unit is operated by a third party other than the occupant. Effect of the Invention

[0009] According to one aspect of the present invention, when the moving body is used for the purpose of the occupant's own transportation, the occupant operates the operation unit, and the direction maintenance control is performed with the control accuracy at the time of the first operation. In contrast, when the moving body is used for the purpose of the transportation of a person with walking difficulties, the operation unit is operated by a third party other than the occupant (i.e., the person to be transported) who is in the living space, and the direction maintenance control is performed with the control accuracy at the time of the second operation. In this way, depending on whether the operation unit is operated by the occupant at the time of the first operation or the operation unit is operated by a third party other than the occupant at the time of the second operation, in other words, depending on the entity who actually operates the operation unit, the control accuracy of the direction maintenance control is optimized or optimized, and appropriate control according to the usage situation of the moving body can be realized, and high functionality can be exhibited in a variety of applications. [Brief description of the drawings]

[0010] [Figure 1] 1 is a side view of a moving body including a saddle-type living space according to an embodiment of the present invention; [Diagram 2] FIG. 4 is a side view showing the moving body with the left rim portion removed. [Diagram 3] 1 is a side view of a mobile body having a stretcher-type living space according to one embodiment of the present invention. FIG. [Figure 4] FIG. 4 is a side view showing the moving body with the left rim portion removed. [Diagram 5] 4 is a side view of a main body support part provided on the moving body according to one embodiment of the present invention. FIG. [Figure 6] FIG. [Figure 7] 13 is an explanatory diagram showing the operation of the rim main body (swinging displacement of the left and right rim portions about the waist link axis). FIG. [Figure 8] FIG. 2 is an explanatory diagram showing leg movements (adduction and abduction of the hip joint, flexion and extension of the knee joint, and rotation of the leg). [Figure 9]10 is an explanatory diagram showing the operation of the main body (rocking relative to the main body support, and rotation of the footrest). FIG. [Figure 10] 1 is an explanatory diagram showing a position (boarding / disembarking position) that the main body support part can take when getting on and off. FIG. [Figure 11] FIG. 2 is a schematic diagram showing a configuration of a control unit. [Figure 12] 10 is a flowchart showing the contents of a control (movement mode selection routine) performed by a control unit during movement. [Figure 13] 10 is a flowchart showing the contents of control (attitude control routine) performed by a control unit during movement. [Figure 14] 10 is a flowchart showing the contents of a control (tilt angle correction routine) performed by a control unit during movement. [Figure 15] 10 is a flowchart showing the contents of control (a judgment value setting routine) performed by a control unit during movement. [Figure 16] 10A and 10B are explanatory diagrams showing an example of the operation of the moving body in a running mode. [Figure 17] 11 is an explanatory diagram showing an example of the movement of the moving object in a walking mode. FIG. [Figure 18] 1 is an explanatory diagram showing an example of a posture that a moving object may take when climbing a step such as a staircase; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0012] Figures 1 to 4 are side views showing a moving body M according to an embodiment of the present invention as viewed from the left side in the direction of travel (the right side when viewed from the front). Figures 1 and 2 show the moving body M equipped with a saddle-type living space 11A, and Figures 3 and 4 show the moving body M equipped with a stretcher-type living space 11B as a living space other than the saddle-type. Figures 1 and 3 show the moving body M with the left rim portion 2L attached, and Figures 2 and 4 show the moving body M with the left rim portion 2L removed.

[0013] 1 to 4 show the front-rear direction DL, left-right direction DW, and up-down direction DH of the moving body M, and the left-right direction on the paper is defined as the front-rear direction DL of the moving body M. The front-rear direction DL coincides with the direction of movement of the moving body 1 when moving straight ahead, and the left-right direction DW and up-down direction DH of the moving body M are all perpendicular to the front-rear direction DL. When the moving body M stands on a horizontal ground or floor surface, the front-rear direction DL and the left-right direction DW are defined as horizontal directions, and the up-down direction DH is defined as vertical directions.

[0014] The moving body (hereinafter referred to as "multipurpose mobility" or simply "mobility") M according to this embodiment is mainly used for transporting or moving people (hereinafter referred to as "passengers"). Not limited to this, the mobility M can also be used to transport luggage other than people by replacing the main body 1.

[0015] Here, replacing the living space 11 is referred to as "remodeling" the main body 1. The replacement can be done by replacing only the living space 11 of the main body 1, or by replacing the entire main body 1. Below, the configuration of the mobility M will be described in the case where it has a saddle-type living space 11A (Figs. 1 and 2), and then in the case where it has a stretcher-type living space 11B (Figs. 3 and 4).

[0016] As shown in FIGS. 1 and 2, the mobility M includes a main body portion 1 and a main body support portion 2. The main body portion 1 and the main body support portion 2 are provided with a support member 2a.

[0017] The main body 1 has a living space 11 in which an occupant can ride. The saddle-type living space 11 (11A) shown in Fig. 1 and other figures is equipped with a seat 11a on which an occupant can sit astride when moving, and the direction in which the occupant sitting on the seat faces forward, that is, the left side on the paper surface of Fig. 1 and other figures, is the forward direction.

[0018] The main body 1 includes a sitting section 11, an operating section 12, a detecting section 13, and a footrest 15.

[0019] In this embodiment, the operation unit 12 (12a) is a handle-type operation unit (hereinafter, may be referred to as the "handle operation unit" to distinguish it from the remote control operation unit described later), and the occupant increases or decreases the moving speed of the mobility M via the operation unit 12, and when moving by the wheels 23f, 23r (specifically, when moving in the running mode), generates a braking force via the wheels 23f, 23r as necessary. The operation unit 12 is equipped with a fixed bar handle that the occupant can grasp when moving, and is equipped with various switches that are operated when starting and stopping the mobility M and changing the posture of the mobility M.

[0020] The detection unit 13 includes a camera 131 and an acceleration sensor 132 .

[0021] Camera 131 is a camera for monitoring the front, and is installed in a position on main body 1 where it can view the route ahead of mobility M. Camera 131 analyzes captured images and detects information on the shape of the route, such as the road width, gradient, steps, and undulations of the route during travel (hereinafter referred to as "route information").

[0022] The acceleration sensor 132 is a six-axis inertial sensor (IMU) that detects translational acceleration along three mutually orthogonal axes and angular velocities about each of these three axes. Based on these translational accelerations and angular velocities, the acceleration sensor 132 detects the forward / backward acceleration αL, the left / right acceleration αW, the up / down acceleration αH, the pitching angular velocity θp, the yawing angular velocity θy, and the rolling angular velocity θr of the moving object M.

[0023] The footrest 15 is disposed under the sitting area 11, specifically the seat 11a, and supports the feet of an occupant seated on the seat 11a when the mobility M moves. Here, the "foot" of a human occupant refers to the part of the occupant from the ankle to the toes, and is distinguished from the "leg" which is the body part extending downward from the torso or waist. Therefore, the footrest 15 can be said to support the legs of the occupant with the feet or soles placed on it.

[0024] In this embodiment, the footrest 15 includes a foot receiving portion 151 forming a support surface on which the occupant's feet are placed, and a foot receiving support portion 152 extending upward from the foot receiving portion 151, connecting to the living space portion 11, and supporting the foot receiving portion 151 on the living space portion 11. The foot receiving portion 151 and the foot receiving support portion 152 are both plate-shaped and connected to each other in a T-shape when viewed from behind as shown in FIG. 4. That is, the footrest 15 has a T-shape as a whole when the mobility M is viewed from the rear. By forming a lightening hole penetrating the foot receiving portion 151 and the foot receiving support portion 152 in the thickness direction, the strength and weight of the footrest 15 are optimized.

[0025] As shown in Fig. 6, the footrest 15 is connected to the living area 11 so as to be displaceable in a rotational direction about an axis A6. Specifically, a shaft portion extending in the thickness direction is provided on each of the front and back sides of the foot-receiving support portion 152, and this shaft portion is rotatably attached to a bearing portion (not shown) provided concentrically with the axis A6 in the living area 11. In this embodiment, the axis A6 is an axis parallel to the waist link axis A1 and provided separately from the waist link axis A1. The footrest 15 can also be configured to be rotatable about the waist link axis A1 instead of the axis A6.

[0026] 9, the footrest 15 is displaceable between a first position P1 and a second position P2 in the rotational direction about the axis A6. The first position P1 is the position when the footrest 15 is displaced to the furthest forward position relative to the forward movement direction of the mobility M, and the second position P2 is the position when the footrest 15 is displaced to the furthest rearward position.

[0027] The footrest 15 can change its height relative to the seat 11a by displacement in the rotation direction around the axis A6. FIG. 9 shows the displacement angle θfr of the footrest 15 between the first position P1 and the second position P2, and also shows the footrest 15 at the first position P1 by a solid line and the footrest 15' at the second position P2 by a two-dot chain line. The footrest 15' at the second position P2 is higher in height relative to the seat 11a than the footrest 15 at the first position P1, and is located relatively closer to the seat 11a. When the footrest 15 is at the first position P1, the foot receiving portion 151 extends parallel to the rim body portion 21 and is located parallel to the straight line connecting the joint axis A2f of the front hip joint HJf and the joint axis A2r of the rear hip joint HJr. When the footrest 15 is at the second position P2, the foot receiving portion 151 is inclined with respect to this straight line, and their rearward extensions intersect.

[0028] The main body 1 further includes a control unit (not shown) and a power supply unit such as a secondary battery or a fuel cell.

[0029] The control unit is configured with a microcomputer equipped with a central processing unit (CPU) and various storage devices such as ROM, RAM, etc., and receives operation instruction signals input by the occupant via the operation unit 12, as well as detection signals from the camera 131 and acceleration sensor 132 from the detection unit 13. The control unit executes a predetermined calculation based on the operation instruction signals and the detection signals, and outputs the resulting drive command signals to various actuators provided in the movable parts of the main body support unit 2.

[0030] Here, the mobility M is provided with a power supply unit in the main body unit 1, so that when the main body unit 1 is attached, power is supplied to the mobility M and the mobility M is ready to operate. When a secondary battery is used as the power supply unit, the secondary battery can be charged by connecting it to an external power source while it is attached to the main body unit 1 or while it is removed from the main body unit 1, or it can be removed from the main body unit 1 and replaced with another charged secondary battery.

[0031] The main body support part 2 has front and rear legs 22f, 22r that form the four limbs. The main body support part 2 stands on the ground or a floor surface by these legs 22f, 22r, and the main body part 1 is attached to the main body support part 2, thereby supporting the main body part 1 on the ground or a floor surface.

[0032] The main body support part 2 comprises a rim part (hereinafter referred to as the "left rim part") 2L located on the left side in the forward direction of the mobility M, and a rim part (hereinafter referred to as the "right rim part") 2R located on the right side. The left rim part 2L and the right rim part 2R are arranged on the left and right sides of the main body part 1 so as to sandwich the main body part 1 therebetween, and are connected to each other so as to be able to swing about an axis (hereinafter referred to as the "waist link axis") A1 extending in the left-right direction DW. In this embodiment, the left rim part 2L corresponds to the "first rim part" and the right rim part 2R corresponds to the "second rim part".

[0033] Fig. 5 is a side view showing the main body support part 2 as seen from the left side of the mobility M, and Fig. 6 is a rear view showing the main body support part 2 as seen from the rear of the mobility M. For reference, Fig. 6 shows the main body part 1 in a schematic manner by a two-dot chain line, and shows by a solid line a footrest 15 provided on the main body part 1 in association with the saddle-type sitting and standing part 11A. The main body support part 2 is shared between the case where the saddle-type sitting and standing part 11A is provided and the case where the stretcher-type sitting and standing part 11B is provided.

[0034] The main body 1 has shafts 14 extending to the left and right from the living area 11. In contrast, the left rim 2L ​​and the right rim 2R each have an attachment portion 211 configured to be able to attach the shafts 14. As shown in Figure 6, by attaching the shafts 14 to the attachment portions 211, the main body 1 is supported by the left rim 2L ​​and the right rim 2R.

[0035] Fig. 7 is an explanatory diagram showing the relative swinging movement between the left rim part 2L and the right rim part 2R. As shown in Fig. 7, the left rim part 2L and the right rim part 2R can swing relative to each other about the waist link axis A1. This swinging movement of the left rim part 2L and the right rim part 2R changes the angle that the respective rim main bodies 21, 21 make in a side view, specifically, the angle that the straight line (hereinafter referred to as the "rim main body extension line") VL1 connecting the joint axes A2f, A2r of the front and rear hip joint parts HJf, HJr of the left rim part 2L makes with the rim main body extension line VL1 of the right rim part 2R in a side view.

[0036] The left rim portion 2L and the right rim portion 2R are configured to be symmetrical with respect to a plane perpendicular to the waist link axis A1. Therefore, the configuration of each of the left and right rim portions 2L, 2R will be explained using the left rim portion 2L as a representative. In other words, the following explanation of the left rim portion 2L can also be used as an explanation of the right rim portion 2R.

[0037] As shown in FIG. 5, the left rim portion 2L comprises a rim main body 21, a front leg portion 22f, and a rear leg portion 22r.

[0038] The rim body 21 extends in the front-rear direction DL in the basic position during movement shown in Figures 1 and 3 (hereinafter referred to as the "basic position") and has a bent shape that is convex upward in side view. In this embodiment, the rim body 21 is generally L-shaped and has a bent portion near the center in the front-rear direction DL. The waist link axis A1 is located at this bent portion, deviates from the rim body extension line VL1, and is located above the rim body extension line VL1 in the basic position. The rim body 21 has a front beam portion 21f that extends forward with the waist link axis A1 as a boundary, and a rear beam portion 21r that extends rearward and is longer in the front-rear direction DL than the front beam portion 21f. In other words, the front-rear dimension Lf of the front beam portion 21f and the front-rear dimension Lr of the rear beam portion 21r have the following relationship. Lf <Lr …(1)

[0039] The rim body 21 has a front hip joint part HJf at the tip of the front beam part 21f (i.e., the front end of the rim body 21) and a rear hip joint part HJr at the tip of the rear beam part 21r (i.e., the rear end of the rim body 21). In other words, the rim body 21 forms a link connecting the front and rear hip joint parts HJf, HJr. The front hip joint part HJf and the rear hip joint part HJr each have a hip joint axis A2f, A2r extending in the left-right direction DW. In this embodiment, the joint axis A2f of the front hip joint part HJf (hereinafter referred to as the "front hip joint axis") and the joint axis A2r of the rear hip joint part HJr (hereinafter referred to as the "rear hip joint axis") are parallel to the waist link axis A1.

[0040] The front leg 22f is connected to the rim body 21 via the front hip joint HJf, and can be adduced and abducted around the front hip joint axis A2f relative to the rim body 21. Here, rotation in a direction in which the angle that a straight line VL2f (hereinafter referred to as the "front leg upper thigh extension line") connecting the front hip joint axis A2f and the front knee joint axis A3f described later makes with the rim body extension line VL1 narrows is called "adduction," and conversely, rotation in a direction in which this angle widens is called "abduction." The front leg 22f corresponds to the "first leg" according to this embodiment.

[0041] The rear leg 22r is connected to the rim body 21 via the rear hip joint HJr, and can be adduced and abducted with respect to the rim body 21 around the rear hip joint axis A2r. As with the front leg 22f, a rotation in a direction in which the angle that the straight line connecting the rear hip joint axis A2r and the rear knee joint axis A3r (hereinafter referred to as the "rear leg upper thigh extension line") VL2r makes with the rim body extension line VL1 narrows is called "adduction," and a rotation in a direction in which this angle widens is called "abduction," but the adduction and abduction of the rear leg 22r are rotations in the opposite direction to those of the front leg 22f. The rear leg 22r corresponds to the "second leg" according to this embodiment.

[0042] The front leg 22f includes a front upper leg 221f extending from the front hip joint HJf, and a front lower leg 222f connected to the front upper leg 221f via a front knee joint KJf so as to be able to bend and extend. Here, the rotation in the direction in which the angle that the straight line (hereinafter referred to as the "front lower leg extension line") VL3f connecting the joint axis (hereinafter referred to as the "front knee joint axis") A3f of the front knee joint KJf and the front wheel axis A4f described later makes with respect to the front upper leg extension line VL2f is called "flexion", and conversely, the rotation in the direction in which this angle is widened is called "extension". The front knee joint axis A3f extends in the left-right direction DW in the basic posture, and is parallel to the waist link axis A1 and the front hip joint axis A2f. A front wheel 23f is attached to the tip of the front leg 222f, that is, the tip of the front leg 22f, and the front wheel 23f forms the point of contact with the ground by the front leg 22f of the mobility M during movement.

[0043] The rear leg 22r includes a rear upper leg 221r ​​extending from the rear hip joint HJr, and a rear lower leg 222r connected to the rear upper leg 221r ​​via a rear knee joint KJr so as to be able to bend and extend. As with the front leg 22f, the rotation in the direction in which the angle formed by the straight line (hereinafter referred to as the "rear lower leg crus extension line") VL3r connecting the joint axis (hereinafter referred to as the "rear knee joint axis") A3r of the rear knee joint KJr and the rear wheel axis A4r described later with respect to the rear upper leg extension line VL2r is narrowed is called "flexion", and the rotation in the direction in which the angle is widened is called "extension". The rear knee joint axis A3r extends in the left-right direction DW in the basic posture and is parallel to the waist link axis A1 and the rear hip joint axis A2r. A rear wheel 23r is attached to the tip of the rear leg 222r, i.e., the tip of the rear leg 22r, and the rear wheel 23r forms the ground contact point of the rear leg 22r of the mobility M during movement.

[0044] The mobility M can change the vertical dimension from the center axis (the wheel axis of the front wheel 23f, hereinafter referred to as the "front wheel axis") A4f to the front hip joint axis A2f by the movement of the front hip joint HJf and the front knee joint KJf, in other words, the height position Hf of the front hip joint HJf relative to the ground contact point of the front wheel 23f can be changed. On the other hand, the mobility M can change the vertical dimension from the center axis (the wheel axis of the rear wheel 23r, hereinafter referred to as the "rear wheel axis") A4r to the rear hip joint axis A2r by the movement of the rear hip joint HJr and the rear knee joint KJr, in other words, the height position Hr of the rear hip joint HJr relative to the ground contact point of the rear wheel 23r can be changed. In this embodiment, the height position of the front hip joint HJf is the height position Hf of the front hip joint HJf, and the height position of the rear hip joint axis A2r is the height position Hr of the rear hip joint HJr.

[0045] In this embodiment, the front leg shank 222f and the rear leg shank 222r each have a non-linear shape and have a crus bend formed to deviate from the crus extension lines VL3f and VL3r. The front leg shank 222f and the rear leg shank 222r are connected to the knee joints KJf and KJr and the wheels 23f and 23r via the crus bend, and are generally C-shaped as a whole. The front leg shank 222f and the rear leg shank 222r may have a shape other than C, for example, an L-shape. The direction in which the crus bend deviates from the crus extension lines VL3f and VL3r is upward or outward in the front-rear direction DL in the basic posture of the mobility M, specifically, forward in the forward direction for the front leg 22f and backward for the rear leg 22r.

[0046] In addition to the above, the mobility M includes movable parts 24f, 24r for rotating the front and rear legs 22f, 22r. Specifically, the mobility M includes a front leg rotating part 24f for rotating the front leg 22f, and a rear leg rotating part 24r for rotating the rear leg 22r. The front leg rotating part 24f imparts a rotational motion about a front leg rotation axis A5f that perpendicularly intersects with the front knee joint axis A3f to the front leg 22f, and the rear leg rotating part 24r imparts a rotational motion about a rear leg rotation axis A5r that perpendicularly intersects with the rear knee joint axis A3r to the rear leg 22f.

[0047] FIG. 8 is an explanatory diagram showing the adduction and abduction movements of the hip joints HJf, HJr, the flexion and extension movements of the knee joints KJf, KJr, and the rotational movements of the legs 22f, 22r.

[0048] 8, the front leg 22f of the left rim part 2L can be adducted and abducted around its joint axis A2f by the front hip joint HJf. This movement of the front leg 22f changes the angle θ1f that the front upper leg extension line VL2f makes with the rim body extension line VL1. Looking at the front leg 22f as a whole, the angle that the front leg 22f makes with the rim body 21, specifically the angle θ3f that the straight line connecting the front hip joint axis A2f and the front wheel axis A4f makes with the rim body extension line VL1, changes.

[0049] The front leg 22f can be bent and extended around the joint axis A3f by the front knee joint KJf. This movement of the front leg 22f changes the angle that the front leg lower crus 222f makes with the front leg upper crus 221f, specifically, the angle θ2f that the front leg lower crus extension line VL3f makes with the front leg upper crus extension line VL2f.

[0050] The front leg 22f can rotate around its rotation axis A5f by the front leg rotation part 24f, specifically, inward rotation and outward rotation. In the basic posture shown in Fig. 1 and Fig. 3, rotation in a direction in which the bent part of the lower leg of the front leg 222f approaches the center of the left-right direction DW of the main body support part 2 is called inward rotation, and conversely, rotation in a direction in which the bent part of the lower leg is moved away from this center is called outward rotation. In other words, the inward rotation of the front leg 22f moves the front wheel 23f in a direction approaching the center of the main body support part 2, and the outward rotation moves the front wheel 23f in a direction away from this center. This movement of the front leg 22f changes the orientation of the front leg 222f with respect to the rim main body part 21, in other words, the angle that the front knee joint axis A3f makes with the front hip joint axis A2f in a plan view of the mobility M seen from above. By rotating the front leg 22f, the direction of travel of the mobility M can be changed both when moving by the legs 22f, 22r (i.e., moving in walking mode) and when moving by the wheels 23f, 23r (i.e., moving in running mode). In other words, steering of the mobility M when moving by the wheels 23f, 23r is performed by the operation of the front leg rotation part 24f. Similarly, the rear leg 22r is provided with a rear leg rotation part 24r, which can rotate inward and outward around the rotation axis A5f.

[0051] In this embodiment, the front leg rotation part 24f is disposed adjacent to the front knee joint KJf to change the orientation of the front leg crus 222f, but the front leg rotation part 24f may be disposed away from the front knee joint KJf and closer to the front hip joint HJf than the front knee joint KJf. This allows a more entire part of the front leg 22f to rotate relative to the rim body 21, and the front hip joint HJf and the front leg rotation part 24f work together to achieve a movement closer to that of an actual hip joint.

[0052] Furthermore, the front leg rotation section 24f and the front knee joint KJf can be arranged in the up-down direction in reverse, with the front knee joint KJf being placed on the upper side, i.e., on one side closer to the front hip joint HJf, and the front leg rotation section 24f being placed on the lower side, i.e., on the other side closer to the front wheel 23f.

[0053] The above explanation regarding the front leg 22f of the left rim portion 2L also applies to the rear leg 22r of the left rim portion 2L and the front and rear legs 22f, 22r of the right rim portion 2R.

[0054] FIG. 9 is an explanatory diagram showing the rocking motion of the main body part 1 relative to the main body support part 2. As shown in FIG.

[0055] The mobility M has a degree of freedom set for the main body support part 2 and further degrees of freedom set for the main body part 1. Specifically, the main body part 1 can swing around the central axis of the shaft part 14 with respect to the main body support part 2. In other words, the main body part 1 can tilt forward or backward with respect to the horizontal position. In this embodiment, the shaft part 14 is arranged concentrically with the waist link axis A1 of the main body support part 2, and its central axis coincides with the waist link axis A1, so that the main body part 1 can swing around the waist link axis A1 with respect to the main body support part 2. In other words, the central axis when the main body part 1 swings with respect to the main body support part 2 coincides with the central axis when the left rim part 2L and the right rim part 2R swing with respect to each other.

[0056] Thus, the mobility M according to this embodiment has a total of 14 degrees of freedom as the degrees of freedom of the movable parts related to the change of its posture. However, this is the number of degrees of freedom when the rocking motion of the main body part 1 relative to the main body support part 2 and the relative rocking motion between the left rim part 2L and the right rim part 2R are considered as conceptually different motions. Here, the arrangement of the actuators ACT (ACT1 to ACT3, ACT5) that impart these 14 degrees of freedom will be described with reference to Figs. 5 and 6. Figs. 5 and 6 show the positions of the actuators ACT by applying diagonal lines to a double-dashed line frame. In this embodiment, all the actuators ACT are embodied by electric motors.

[0057] The mobility M includes seven drive motors ACT1 to ACT3 and ACT5 as the actuators ACT on the left and right rim portions 2L and 2R, respectively.

[0058] The first drive motor ACT1 is built into the housings of the left and right rim main bodies 21 on which the mounting parts 211 for mounting the shaft parts 14 are provided, and imparts a rocking motion of the rim main body parts 21 about the waist link axis A1. Cooperation between the first drive motor ACT1 on the left rim part 2L and the first drive motor ACT1 on the right rim part 2R realizes relative rocking motion between the left rim part 2L and the right rim part 2R, and can also realize rocking motion of the main body part 1 relative to the main body support part 2.

[0059] The second drive motors ACT2f, ACT2r are built into the housing of the rim main body 21 at the front and rear ends of the rim main body 21 to which the front and rear hip joints HJf, HJr are respectively attached, and impart adduction and abduction movement to the front and rear legs 22f, 22r about the hip joint axes A2f, A2r, respectively.

[0060] The third drive motors ACT3f, ACT3r are built into the housings of the front and rear knee joints KJf, KJr, and impart flexion and extension movements to the front and rear legs 22f, 22r about the knee joint axes A3f, A3r, respectively.

[0061] The fifth drive motors ACT5f, ACT5r are built into the housings of the front and rear leg rotation units 24f, 24r, and impart inward and outward rotation motions to the front and rear legs 22f, 22r about the leg rotation axes A5f, A5r, respectively.

[0062] The seven electric motors mentioned above (14 in total if the electric motors provided on the left and right rim portions 2L, 2R are counted separately) are equipped with reduction gears and are capable of generating drive torques that drive the respective movable parts when the attitude of the mobility M changes, as well as generating holding torques that hold the positions of the movable parts after the attitude has been changed, i.e., the rotational angle of the electric motors after the change. In addition to or instead of generating torque, a locking mechanism may be provided on the movable parts, and the position of the movable parts according to the attitude of the mobility M may be held by this locking mechanism. If a locking mechanism is provided, it is possible to maintain the attitude of the mobility M when the power supply to the actuator ACT is cut off.

[0063] In addition to the above, the mobility M includes fourth electric motors ACT4f, ACT4r and a sixth electric motor ACT6. The fourth electric motors ACT4f, ACT4r rotate the wheels for traveling (front wheels 23f, 23r) and generate a braking force by regeneration on the wheels 23f, 23r. The sixth electric motor ACT6 is provided in the main body 1 and applies a rotational force to the footrest 15. A reduction gear train is interposed between the sixth electric motor ACT6 and the footrest 15, and the rotational force generated by the sixth electric motor ACT6 can be transmitted to the footrest 15 with an appropriate reduction ratio via this gear train.

[0064] 3 and 4 show a mobility M having a stretcher-type living space 11B.

[0065] In this embodiment, the main body 1 is to be replaced as a whole, including the living space 11. Specifically, the main body 1 is detachable as a whole from the main body support 2 via the shaft 14 and the attachment 211. Without being limited to this, the main body 1 may be divided into a common part shared with other replaceable living spaces (e.g., a saddle-type living space 11A) and the living space 11 which is detachable and replaceable from the common part, and the shaft 14 may be fixed to the common part, so that only the living space 11 is to be replaced. In this case, the operation unit and the detection unit are mounted on the living space 11 and are to be replaced together with the living space 11 itself, while the control unit and the power supply unit are mounted on the common part to promote sharing of parts.

[0066] The stretcher-type living space 11 (11B) shown in FIG. 3 and the like includes a frame 16 and a transfer mat 11b.

[0067] The frame 16 is formed by bending and connecting rigid pipe-shaped members, and is fixed to the shaft portion 14 to form the framework of the living portion 11B.

[0068] The transfer mat 11b serves as a bed on which a person to be transported by mobility M, such as a person with walking difficulties, can lie during transportation, and when the living space 11 provided in the main body 1 is of the stretcher type (11B), the person to be transported corresponds to the passenger who boards the living space 11. The transfer mat 11b is detachable from the frame 16, and can be fixed to the frame 16 by a belt or the like (not shown).

[0069] A pair of side guards 17 are attached to the frame 16, arranged on the left and right sides so as to sandwich the mat 11b therebetween. The side guards 17 form guide parts that prevent the transfer mat 11b from falling off the frame 16, and also form gripping parts that are gripped by an occupant (i.e., a person to be transferred) in the living space 11 during transfer.

[0070] The transfer mat 11b can be folded at the middle part corresponding to the waist of the person to be transferred, and the person to be transferred can be transferred not only in a lying state but also in an upright state. In this embodiment, the direction in which the head of the person lying on the mat 11b is positioned relative to the legs, that is, the left side in the plane of FIG. 3, etc., is the forward direction.

[0071] The main body 1 includes a remote control type operation unit (hereinafter sometimes referred to as a "remote control operation unit") 12b as an operation unit associated with the stretcher type living space 11B. The remote control operation unit 12b is configured to be portable away from the living space 11B and can be operated by a third party other than the occupant, such as an attendant or a rescuer accompanying the person to be transported. The remote control operation unit 12b can also be configured to be detachable from the living space 11B, for example, the side guard 17, by appropriate means using magnetism or the like. In this case, the remote control operation unit 12b can be operated not only by a third party but also by the occupant by attaching it to the living space 11B.

[0072] The remote control operation unit 12b, like the handle operation unit 12a described above, is equipped with various switches that can be operated to increase or decrease the movement speed of the mobility M, as well as to start and stop the mobility M and change the posture of the mobility M.

[0073] FIG. 10 is a schematic diagram showing the control configuration of the mobility M.

[0074] In this embodiment, the control unit is realized as a controller 101, which is an electronic control unit, and includes a microcomputer and its peripheral circuits. The controller 101 receives, as its input, an output signal from the operation unit 12, specifically, the handle operation unit 12a or the remote control operation unit 12b, and also receives an output signal from the detection unit 13.

[0075] The operation unit 12 includes a start switch 121, a speed change switch 122, a traveling direction change switch 123, and a boarding / disembarking switch 124. When the living space 11 is of the saddle type (11A), these various switches are provided around a handle or grip that is provided so as to be grasped by an occupant seated on the seat 11a, at a position where the occupant gripping the handle can operate it with the thumb of his / her right or left hand. In contrast, when the living space 11 is of the stretcher type (11B), switches corresponding to each of these switches 121 to 124 are provided on the remote control operation unit 12b.

[0076] The start switch 121 is a switch for turning on and off the power supply of the mobility M, in other words, for starting and stopping the mobility M. The speed change switch 122 is a switch for changing the moving speed or its set range of the mobility M, and is configured, for example, by a combination of an increase speed switch and a decrease speed switch. The traveling direction change switch 123 is a switch for switching the traveling direction of the mobility M between forward and backward, and for changing the course of the mobility M to the right or left.

[0077] The boarding / alighting switch 124 is a switch for switching the posture of the mobility M between a basic posture (FIGS. 1 and 3) and a boarding / alighting posture (FIG. 11) described later. When the mobility M is in the basic posture, the mobility M transforms into the boarding / alighting posture by a passenger or a third party pressing the boarding / alighting switch 124, and when the mobility M is in the boarding / alighting posture, the mobility M transforms into the basic posture by a passenger or a third party pressing the boarding / alighting switch 124. As described above, the basic posture is the basic posture that the mobility M takes when moving, and can be referred to as a standby or initial posture.

[0078] In addition to the above, the operating unit 12a provided in the saddle-type sitting area 11A includes a brake lever (not shown) for forcibly decelerating the mobility M.

[0079] The detection unit 13 includes a camera 131, an acceleration sensor 132, and a motor rotation angle sensor 133. The motor rotation angle sensor 133 detects the rotation angle of an electric motor provided in each movable part as an actuator ACT, and is, for example, a rotary encoder.

[0080] The controller 101 executes a predetermined calculation based on these input signals, and outputs the resulting drive command signal to the corresponding actuator ACT (ACT1 to ACT6).

[0081] Below, specific examples of postures that can be realized by the mobility M will be described.

[0082] In addition to the basic postures shown in Figures 1 and 3, the mobility M can also realize the boarding and disembarking postures shown in Figure 11. The basic postures are examples of postures that the mobility M can take when moving, and the boarding and disembarking postures are examples of postures that the mobility M can take when boarding and disembarking.

[0083] The basic posture is the basis of the posture that the mobility M takes when moving, and is suitable as the posture that the mobility M takes when waiting before moving, that is, before walking with the legs 22f, 22r or before running with the wheels 23f, 23r. In the basic posture, the left rim part 2L and the right rim part 2r are in a plane symmetrical state. In other words, there is no relative swinging displacement between the left rim part 2L and the right rim part 2R, and the left rim part 2L and the right rim part 2R are in the same position in the rotation direction about the waist link axis A1. The waist link axis A1, the joint axes A2f, A2r of the front and rear hip joints HJf, HJr, the joint axes A3f, A3r of the front and rear knee joints KJf, KJr, and the wheel axes A4f, A4r of the front and rear wheels 23f and 23r are parallel to each other, parallel to the ground or floor surface on which the wheels 23f, 23r are in contact, and perpendicular to the forward direction of the mobility M.

[0084] In the basic posture, the upper thighs 221f, 221r ​​of the front and rear legs 22f, 22r are inclined inward and approach the rim main body 1, and the rotation angles of the hip joints HJf, HJr are set so that the knee joints KJf, KJr are positioned inward in the fore-aft direction DL relative to the hip joints HJf, HJr, and further, the rotation angles of the knee joints KJf, KJr are set so that the front and rear wheels 23f, 23r are positioned outward relative to the knee joints KJf, KJr. Here, referring to FIG. 8, the angle at which a straight line (hereinafter referred to as a "front leg extension line") VL4f connecting the front hip joint axis A2f and the front wheel axis A4f opens outward with respect to the rim body extension line VL1 is defined as the front leg opening angle θ3f, and the angle at which a straight line (hereinafter referred to as a "rear leg extension line") VL4r connecting the rear hip joint axis A2r and the rear wheel axis A4r opens outward with respect to the rim body extension line VL1 is defined as the rear leg opening angle θ3r. In the basic posture, the front leg opening angle θ3f and the rear leg opening angle θ3r are each set to a predetermined angle. This predetermined angle is, for example, greater than 90°. The front wheel axis A4f is located forward of the extension line of the front leg rotation axis A5f, and the rear wheel axis A4r is located rearward of the extension line of the rear leg rotation axis A5r.

[0085] With such settings, in the basic posture, the living space 11, specifically, the seat 11a of the saddle-type living space 11A or the transfer mat 11b of the stretcher-type living space 11B is set horizontally at a height that is preferable for the occupant during movement. This height is higher than the height of the seat 11a or the transfer mat 11b in the boarding / disembarking posture described later. The distance between the front wheel 23f and the rear wheel 23r in the basic posture, that is, the wheelbase of the mobility M, is set to a predetermined first distance, which is longer than the front-rear distance between the front hip joint axis A2f and the rear hip joint axis A2r, for example, 1100 mm.

[0086] 11 is a suitable posture for a rider to take when getting on and off the mobility M. The getting on and off posture can be achieved by increasing both the inward rotation angle (i.e., adduction angle) of the hip joints HJf, HJr and the outward rotation angle (i.e., flexion angle) of the knee joints KJf, KJr in the front and rear legs 22f, 22r, respectively, so that the upper thighs 221f, 221r ​​are closer to the rim body 21 and the upper thighs 221f, 221r ​​and the lower thighs 222f, 222r are closer to each other, while maintaining the left rim portion 2L and the right rim portion 2R in the same position relative to the basic posture. In other words, the angles θ1f, θ1r that the upper leg extension lines VL2f, VL2r make with the rim body extension line VL1 are narrowed, and the angles θ2f, θ2r that the lower leg extension lines VL3f, VL3r make with the upper leg extension lines VL2f, VL2r are reduced. Here, in the getting on / off posture, the front leg opening angle θ3f and the rear leg opening angle θ3r are both smaller than in the basic posture. The getting on / off posture can also be called the squatting posture from its description.

[0087] With this setting, in the boarding / alighting posture, the sitting area 11 (seat 11a, transfer mat 11b) is set to a lower position than the basic posture while maintaining the horizontal position. The wheel base in the boarding / alighting posture is set to a predetermined second distance that is shorter than the first distance. The second distance is, for example, 1000 mm.

[0088] The controller 101 controls the driving state of the mobility M during movement based on the output signal from the operation unit 12, and also controls the posture of the mobility M during movement and when getting on and off. Here, "when moving" refers to a case where the mobility M moves with an occupant aboard the living space 11, and includes a case where the mobility M moves by the movement of the front and rear legs 22f, 22r including the hip joints HJf, HJr and the knee joints KJf, KJr during walking, and a case where the mobility M moves by the rotation of the front wheels 23f and the rear wheels 23r during running. Meanwhile, "when getting on and off" refers to a case where the occupant gets on or off the living space 11.

[0089] When moving by walking or running, the controller 101 sets the mobility M to a posture during movement, places the living space 11 at a relatively high position, and performs control to maintain the orientation of the living space 11 constant, in this embodiment, horizontal (hereinafter referred to as "direction maintenance control"). When moving, the controller 101 sets the mobility M to a basic posture, which is a standby or initial posture, until the mobility M actually starts moving. The controller 101 then acquires route information regarding the route ahead of the mobility M, executes a predetermined calculation based on the acquired route information, and controls the actuator ACT provided in the movable part to maintain the horizontality of the main body 1, that is, to maintain the orientation of the living space 11 horizontal, regardless of whether the route during movement is a horizontal road, an uphill road, a downhill road, or a step road. Here, with regard to the orientation of the living area 11, "horizontal" refers to a substantially horizontal direction; for example, when the living area 11 is a saddle type (11A), it refers to an orientation suitable for an occupant holding a handle or grip to face forward or keep their line of sight horizontal; when the living area 11 is a stretcher type (11B), it refers to an orientation suitable for an occupant (i.e., the person being transported) to lie on their back on the transfer mat 11b.

[0090] In this embodiment, the control accuracy of the direction maintenance control is made different between a case where the operation unit 12 is operated by an occupant aboard the living space 11 (corresponding to a "first operation") and a case where the operation unit 12 is operated by a third party other than the occupant (corresponding to a "second operation"). When the operation unit 12 is operated by the occupant, this corresponds to a case where the occupant operates the handle operation unit 12a, and the controller 101 controls the driving state of the mobility M based on an instruction signal from the handle operation unit 12a. On the other hand, when the operation unit 12 is operated by a third party, this corresponds to a case where the third party operates the remote control operation unit 12b, and the controller 101 controls the driving state of the mobility M based on an instruction signal from the remote control operation unit 12b.

[0091] In contrast, when getting on and off, the controller 101 sets the mobility M to a posture for getting on and off in which the position of the living space 11 is lower than when moving. The posture for getting on and off can be realized by the getting on and off posture, and the mobility M maintains the orientation of the living space 11, specifically, the seat 11a or the transfer mat 11b, horizontally.

[0092] The control performed by the controller 101 when the mobility M moves will be described below with reference to Fig. 12 to Fig. 15. The controller 101 performs the controls shown in Fig. 12 to Fig. 15 at a predetermined cycle after the power is turned on for the mobility M. The execution cycle of each control can be set separately or independently, but in this embodiment, the attitude control routine shown in Fig. 13 and the tilt angle correction routine shown in Fig. 14 are performed as a series of controls under the same execution cycle.

[0093] In FIG. 11 showing the details of the travel mode selection routine, in S101, information on the shape of the route along which the mobility M will travel, that is, route information on the route ahead of the mobility M, is obtained.

[0094] In S102, a vibration determination parameter PRM for the route ahead of the mobility M is calculated based on the acquired route information. The vibration determination parameter PRM is an index indicating the magnitude of vibration transmitted from the road surface to the living space 11 via the wheels 23f, 23r, for example, the left and right front wheels 23f when moving forward, when the mobility M starts moving on the wheels 23f, 23r and travels along the route ahead. The vibration determination parameter PRM can be calculated according to the size of unevenness or obstacles present on the road surface, and is calculated as a larger value when the obstacle present on the road surface is larger, for example, and is calculated as a larger value when the traveling speed of the moving body (i.e., the traveling speed when traveling on the wheels 23f, 23r) is higher for obstacles of the same size.

[0095] In S103, a movement mode of the mobility M is selected based on the calculated vibration judgment parameter PRM. If the vibration judgment parameter PRM is equal to or less than the judgment value PRM1, it is judged that the vibration transmitted to the living space 11 when moving in the traveling mode is small, and the process proceeds to S104. On the other hand, if the vibration judgment parameter PRM is greater than the judgment value PRM1, it is judged that the vibration transmitted to the living space 11 when moving in the traveling mode is large, and the process proceeds to S105.

[0096] In S104, a driving mode using the wheels 23f, 23r is selected.

[0097] In S105, in order to prevent vibrations from the road surface from being transmitted to the living space 11 and causing large vibrations or shaking in the living space 11, a walking mode using the legs 23f and 23r is selected.

[0098] 13 showing the contents of the posture control routine, in S201, information detected by various sensors provided in the detection unit 13, such as the camera 131 and the acceleration sensor 132, is read. The acquired information includes route information regarding the route ahead of the mobility M.

[0099] In S202, the waist link shaft height is set. The waist link shaft height is the height from the ground contact point of the wheels 23f, 23r to the waist link shaft A1, and is related to and indicates the height of the seat 11a or the transfer mat 11b.

[0100] In S203, the heights of the joint axes A2f, A2r of the front and rear hip joints HJf, HJr provided on the left rim portion 2L and the right rim portion 2R (hereinafter referred to as "hip joint axis heights") are set based on the set waist link axis height. Here, the hip joint axis height is the height from the ground contact point to the front and rear hip joint axes A2f, A2r, and indicates the height of the front and rear hip joints HJf, HJr for maintaining the waist link axis A1 horizontally at the set height (i.e., the waist link axis height) on the path during movement.

[0101] In steps S204 to S206, the rim body swing angle, hip joint rotation angle, and knee joint rotation angle are calculated to achieve the set hip joint axis height. The rim body swing angle is the amount of relative swing displacement around the waist link axis A1 between the left and right rim portions 2L, 2R, the hip joint rotation angle is the rotation angle of each of the front and rear hip joint portions HJf, HJr, and the knee joint rotation angle is the rotation angle of each of the front and rear knee joint portions KJf, KJr.

[0102] In S207, the rotation angles of the leg rotation portions 24f, 24r of the front and rear legs 22f, 22r provided on the left rim portion 2L and the right rim portion 2R (hereinafter referred to as "leg rotation angles") are calculated.

[0103] In S208, drive command signals are generated according to the rim body swing angle, hip joint rotation angle, knee joint rotation angle and leg rotation angle calculated in the above steps, and output to the actuators ACT1, ACT2f, ACT2r, ACT3f, ACT3r, ACT5f, and ACT5r of the corresponding movable parts.

[0104] In addition to obtaining route information using the camera 131, it is also possible to previously store information regarding the shape of the route in the memory unit of the controller 101 in association with map information, detect the current position of the mobility M on the map using a position sensor such as a GPS, and read out the route information associated with this current position.

[0105] 14 showing the contents of the inclination angle correction routine, in S301, the inclination angle θdl of the living space 11 in the front-rear direction DL (hereinafter referred to as the "front-rear inclination angle") is detected. The front-rear inclination angle θdl can be detected based on a detection signal from the acceleration sensor 132. The front-rear inclination angle θdl and the left-right inclination angle θdw described below correspond to the "direction angle" according to this embodiment.

[0106] In S302, the inclination angle θdw of the living area 11 in the left-right direction DW (hereinafter referred to as the “left-right inclination angle”) is detected. The left-right inclination angle θdw can also be detected based on the detection signal from the acceleration sensor 132, similar to the front-rear inclination angle θdl.

[0107] In S303, it is determined whether the detected longitudinal inclination angle θdl is equal to or less than the judgment value θdl1. If the longitudinal inclination angle θdl is equal to or less than the judgment value θdl1, the inclination of the living area 11 in the longitudinal direction DL is suppressed, and the seat 11a or the transfer mat 11b is horizontal or can be considered to be horizontal in the longitudinal direction DL, and the process proceeds to S305. If the longitudinal inclination angle θdl is greater than the judgment value θdl1, an unacceptable inclination has occurred in the living area 11, and the orientation needs to be returned to horizontal, and the process proceeds to S304.

[0108] In S304, a main body swing angle, which is the amount of swing displacement of the main body 1 around the waist link axis A1, is set, and the main body 1 is swung forward or backward around the waist link axis A1 to eliminate the tilt in the front-to-back direction DL.

[0109] In S305, it is determined whether the detected left-right inclination angle θdw is equal to or less than the judgment value θdw1. If the left-right inclination angle θdw is equal to or less than the judgment value θdw1, the inclination of the living area 11 in the left-right direction DW is suppressed, and the seat 11a or the transfer mat 11b is horizontal or can be considered to be horizontal in the left-right direction DW, and the control in this routine is terminated. If the left-right inclination angle θdw is greater than the judgment value θdw1, an unacceptable inclination occurs in the living area 11 and the orientation needs to be returned to horizontal, and the process proceeds to S306.

[0110] In S306, the waist link axis A1 is returned to a horizontal position to eliminate the tilt in the left-right direction DW that has occurred in the living area 11. In this embodiment, the tilt in the left-right direction DW is eliminated by correcting the hip joint axis heights of the front hip joint member HJf and the rear hip joint member HJr. For example, if the living area 11 is tilted downward toward the left, the hip joint axis height (S203 in FIG. 13), which is set relative to the waist link axis height, is corrected so that the rim body 21 of the right rim member 2R is lowered relative to the rim body 21 of the left rim member 2L.

[0111] In FIG. 15 showing the contents of the judgment value setting routine, in S401, the operation unit that is actually being operated (hereinafter referred to as the "valid operation unit") is determined. When the steering wheel operation unit 12a is being operated by the occupant, the steering wheel operation unit 12a becomes the valid operation unit, and when the remote control operation unit 12b is being operated by a third party other than the occupant, the remote control operation unit 12b becomes the valid operation unit. Whether the valid operation unit is the steering wheel operation unit 12a or the remote control operation unit 12b can be determined based on an identification signal that can be transmitted from each of the operation units 12a, 12b.

[0112] In S402, it is determined whether the valid operation unit is the steering wheel operation unit 12a. If the validity determination unit is the steering wheel operation unit 12a, the process proceeds to S403, and if the validity determination unit is not the steering wheel operation unit 12a, that is, if the validity determination unit is the remote control operation unit 12b, the process proceeds to S404.

[0113] In S403, assuming that the mobility M is used for the purpose of the occupant's own transportation, the judgment values ​​PRM1, θdl1, and θdw1 are set to first judgment values ​​PRM1a, θdl1a, and θdw1a, respectively. The first judgment values ​​PRM1a, θdl1a, and θdw1a are judgment values ​​that prioritize comfort and efficiency during transportation over maintaining the direction of the living space 11 and suppressing vibrations.

[0114] In S404, the use of the mobility M is for the purpose of transporting a person with walking difficulty, and the judgment values ​​PRM1, θdl1, and θdw1 are set to second judgment values ​​PRM1b, θdl1b, and θdw1b, respectively. The second judgment values ​​PRM1b, θdl1b, and θdw1b are judgment values ​​that prioritize maintaining the orientation of the living space 11 horizontal and suppressing vibrations occurring in the living space 11, taking into consideration safety during transport. Specifically, the second judgment value PRM1b regarding the vibration judgment parameter PRM is smaller than the first judgment value PRM1a, the second judgment value θdl1b regarding the front-rear tilt angle θdl is smaller than the first judgment value θdl1a, and the second judgment value θdw1b regarding the left-right tilt angle θdw is smaller than the first judgment value θdw1a.

[0115] The mobility M according to this embodiment has the above-mentioned configuration. The effects obtained by this embodiment will be described below.

[0116] First, the controller 101 performs direction maintenance control when the mobility M moves, and maintains a constant orientation of the living space 11 during the movement. Furthermore, the control accuracy of the direction maintenance control is made different between when the operation unit 12 is operated by an occupant aboard the living space 11 (first operation) and when the operation unit 12 is operated by a third party other than the occupant (second operation). In this embodiment, the first operation is when the driving state of the mobility M during the movement is controlled based on an instruction signal output by the handle operation unit 12a, while the second operation is when the driving state is controlled based on an instruction signal output by the remote control operation unit 12b, and the control accuracy of the direction maintenance control is made different between the first operation and the second operation.

[0117] As a result, when the mobility M is used for the purpose of the occupant's own transportation, the occupant himself operates the operation unit 12 (handle operation unit 12a), and the controller 101 performs the direction maintenance control with the control accuracy at the time of the first operation. In contrast, when the mobility M is used for the purpose of transporting an occupant who has difficulty walking, a third party other than the occupant (i.e., the person to be transported) aboard the living space 11 (11B) operates the operation unit 12 (remote control operation unit 12b), and the controller 101 performs the direction maintenance control with the control accuracy at the time of the second operation.

[0118] In this way, by varying the control accuracy of the direction maintenance control depending on the entity actually operating the operating unit 12, the control accuracy can be optimized or corrected, enabling the mobility M to demonstrate high functionality in a variety of applications.

[0119] Secondly, by using the orientation maintenance control to keep the orientation of the living space 11 horizontal during movement, it is possible to reduce the burden on the occupant being transported, for example, when a person with walking difficulty is transported on a stretcher-type living space 11B.

[0120] Thirdly, by setting the control accuracy of the direction maintenance control to a relatively high level during the second operation in which a third party other than the occupant is the main operator, when the purpose is to transport a person with difficulty walking, the orientation of the living area 11B during movement can be controlled with high accuracy, reducing the burden on the occupant being transported and enabling them to be transported safely.

[0121] On the other hand, by setting the control accuracy during the first operation, in which the occupant is the main operator, lower than that during the second operation, it is possible to avoid a situation in which the control load of directional control becomes excessive when the purpose is to move the occupant himself or herself or transport luggage, thereby compromising the comfort of travel and the efficiency of transportation.

[0122] Fourth, by configuring the multiple living spaces 11 (11A, 11B) interchangeably, each of which differs in the state or posture of the occupant when boarding, and by providing an operating unit 12 (12a, 12b) in association with each of the multiple living spaces 11, it becomes possible to easily determine whether the operating unit 12 is being operated by the occupant or a third party other than the occupant.

[0123] Fifth, vibration suppression control is implemented both during a first operation in which the operating unit 12 is operated by the occupant, and during a second operation in which the operating unit 12 is operated by a third party other than the occupant, and the vibrations generated in the living area 11 during the second operation are suppressed to be smaller than those during the first operation, making it possible to further reduce the burden on the occupant being transported when a person with walking difficulty is transported on a stretcher-type living area 11B.

[0124] In this embodiment, as vibration suppression control, a vibration determination parameter PRM for a route ahead of the mobility M is calculated, and when the vibration determination parameter PRM is equal to or smaller than a determination value PRM1, a running mode using the wheels 23f, 23r is selected, and when the vibration determination parameter PRM is greater than the determination value PRM1, a walking mode using the legs 22f, 22r is selected. The determination value PRM1 is switchable depending on the subject of operation of the operation unit 12, and when the subject of operation is a passenger, the determination value PRM1 is set to a relatively large first determination value PRM1a, whereas when the subject of operation is a third party other than the passenger, the determination value PRM1 is set to a second determination value PRM1b smaller than the first determination value PRM1a.

[0125] As a result, when the purpose is to transport the occupants themselves or luggage, the selection of a driving mode will be encouraged, prioritizing comfort of travel and efficiency of transportation, while when the purpose is to transport people who have difficulty walking, the selection of a walking mode will be encouraged, prioritizing ensuring safety and reducing the burden on the person being transported.

[0126] FIG. 16 and FIG. 17 show switching of the travel mode according to the vibration judgment parameter PRM. Assume that an obstacle OBS exists on the road surface R in front of the mobility M. When the main body 1 is equipped with a saddle-type living space 11A, a relatively large first judgment value PRM1a is set as a judgment value for the vibration judgment parameter PRM, and the selection of the travel mode is prompted. Then, when the front wheel 23f (the left front wheel 23f in FIG. 16) rides over the obstacle OBS, and the inclination angles θdh, θdw of the living space 11A vary accordingly, the main body rocking angle is set (S304 in FIG. 14) and the hip joint axis height is corrected (S306) in order to eliminate the inclination generated in the living space 11A. FIG. 16 shows an example in which a difference in the up-down direction DH occurs between the positions Hf, Hr of the front and rear hip joints HJf, HJr due to the correction of the hip joint axis height.

[0127] On the other hand, when the main body 1 is provided with a stretcher-type living space 11B, the second judgment value PRM1b smaller than the first judgment value PRM1a is set as the judgment value for the vibration judgment parameter PRM, and the selection of the walking mode is prompted. As a result, the mobility M drives the left front leg 22f and moves astride the obstacle OBS without contacting or colliding with it. In this case, there is no change in the positions Hf, Hr of the front and rear hip joints HJf, HJr, and the orientation of the living space 11B is maintained horizontally, and a situation in which vibrations from the road surface R are transmitted to the living space 11B via the front wheel 23f is avoided.

[0128] In this manner, in the present embodiment, vibration suppression control is realized by changing the judgment value PRM1 for switching between walking mode and running mode, but it is not limited to this. It can also be realized by shortening the control period of vibration suppression control to finely control the movement of the legs 22f, 22r according to the shape of the road surface R, or by simply reducing the moving speed of the mobility M when the purpose is to transport a person with difficulty walking, etc., thereby mitigating the impact when the front wheel 23f comes into contact with an obstacle OBS.

[0129] Fig. 18 is an explanatory diagram showing an example of a posture that the mobility M can take when climbing a step (e.g., a staircase) S using the legs 22f, 22r. Fig. 18(a) shows the posture of the entire mobility M, and Fig. 18(b) shows a schematic diagram of the positional relationship of the waist link axis A1, front hip joint axes A2f, A2f', and rear hip joint axes A2r, A2r' of the left and right rim portions 2L, 2R.

[0130] When the mobility M climbs up a step S, the heights of the front and rear hip joints HJf, HJr are set to maintain the waist link shaft A1 horizontally at a predetermined height from the ground or floor surface (i.e., the step surface of the step S). The distance in the up-down direction DH between the waist link shaft A1 and a point Sp where a straight line drawn vertically downward from the waist link shaft A1 intersects with the step surface is defined as the height Hc of the waist link shaft A1. In the illustrated example, in order to maintain the waist link shaft A1 at this predetermined height, the height of the front hip joint HJf of the left rim part 2L is set lower than the height of the front hip joint HJf of the right rim part 2R, and the height of the rear hip joint HJf of the left rim part 2L is set higher than the height of the rear hip joint HJr of the right rim part 2R.

[0131] Accordingly, in order to prevent the posture of the mobility M from becoming unstable due to the difference in height between the left and right hip joints HJf, HJr, a relative swinging displacement is generated between the left rim portion 2L and the right rim portion 2R by setting the rim body swing angle, thereby absorbing the difference in height of the hip joints HJf, HJr.

[0132] The positions of the front leg 22f and rear leg 22r of each of the left and right rim portions 2L, 2R, i.e., the rotation angles of the front and rear hip joints HJf, HJr and knee joints KJf, KJr, can be set based on the front hip joint axis height for the front leg 22f, and based on the rear hip joint axis height for the rear leg 22r.

[0133] Furthermore, when the sitting section 11 (in the example shown in FIG. 18, a saddle-type sitting section 11A) tilts forward or backward with the front and rear hip joints HJf, HJr at the set heights, the main body 1 is swung backward or forward about the waist link axis A1 to keep the sitting section 11 horizontal. In this embodiment, the swinging of the main body 1 can be achieved by rotating the first drive motors ACT1 provided on the left and right rims 2L, 2R by the same angle in the same forward and backward directions.

[0134] In this embodiment, of the V-shaped rim main body 21, the beam-like portion on one end side that is shorter in the front-rear direction DL is the front beam-like portion 21f and is arranged on the front side in the forward movement direction of the mobility M, while the beam-like portion on the other end side that is longer in the front-rear direction DL is arranged on the rear side in the forward movement direction as the rear beam-like portion 21r. In other words, they are arranged so that the front beam-like portion 21f precedes the rear beam-like portion 21r when moving forward, and the rear beam-like portion 21r precedes the front beam-like portion 21f when moving backward.

[0135] The forward direction of the mobility M is not limited to this, and may be a direction in which the beam-like portion 21r on the other end side that is longer in the front-rear direction DL precedes the beam-like portion 21f on one end side when moving forward, and the beam-like portion 21f on the one end side that is shorter in the front-rear direction DL precedes the beam-like portion 21r on the other end side when moving backward. Accordingly, the orientation of the main body 1 is also reversed, and the occupant who boards the living space 11 is positioned so that the hip joint on the other end side (rear hip joint portion HJr) is in front.

[0136] Furthermore, in this embodiment, in order to change and adjust the height of the front and rear ends of the rim body 21, that is, the front and rear hip joints HJf, HJr, respectively, a rotational joint is formed in the front and rear legs 22f, 22r by the knee joints KJf, KJr in addition to the hip joints HJf, HJr. Changing and adjusting the height is not limited to this, but can also be achieved by forming a linear joint in place of or in addition to the knee joints KJf, KJr.

[0137] In addition to the living space 11, the main body 1 can be provided with a loading platform on which luggage to be transported by the mobility M can be placed or loaded. [Explanation of symbols]

[0138] M...mobile body, 1...main body, 11...living area, 11A...saddle-type living area, 11B...stretcher-type living area, 11a...seat, 11b...transfer mat, 12...operation unit, 12a...handle operation unit, 12b...remote control operation unit, 121...start switch, 122...speed change switch, 123...forward / reverse switch, 124...boarding / disembarking switch, 13...detection unit, 131...camera, 132...acceleration sensor, 133...motor rotation angle sensor, 14...shaft, 2...main body support unit, 2L...left rim unit, 2R...right rim unit, 21...ribbon 22f...front leg, 22r...rear leg, 221f...front leg upper leg, 221r...rear leg upper leg, 222f...front leg lower leg, 222r...rear leg lower leg, 23f...front wheel, 23r...rear wheel, HJf...front hip joint, HJr...rear hip joint, KJf...front Side knee joint, KJr...posterior knee joint, A1...lumbar link axis, A2f...front hip joint axis, A2r...posterior hip joint axis, A3f...front knee joint axis, A3r...posterior knee joint axis, A4f...front wheel axis, A4r...rear wheel axis, A5f...front leg rotation axis, A5r...rear leg rotation axis.

Claims

1. A main body having a living space in which a passenger can sit; A body support part that supports the body part on the ground or floor surface during movement; An operation unit; a control unit that controls a driving state of the moving body when the moving body moves with an occupant aboard the living space based on a signal from the operation unit, The main body support portion is A first rim portion; a second rim portion arranged in the left-right direction with respect to the first rim portion so as to sandwich the main body portion between the first rim portion and the second rim portion, and connected to the first rim portion via an axis portion provided along an axis extending in the left-right direction, Each of the first rim portion and the second rim portion is a rim body portion extending in a front-rear direction and having a first hip joint portion formed on one end side in the front-rear direction and a second hip joint portion formed on the other end side; A first leg portion connected to the rim body portion via the first hip joint portion so as to be capable of inward and outward rotation; a second leg portion connected to the rim body portion via the second hip joint portion so as to be capable of inward and outward rotation, The control unit is performing a direction maintenance control for maintaining a constant orientation of the living space by movements of the first and second legs including adduction and abduction at the hip joint during the movement; A moving body in which the control accuracy of the direction maintenance control is made different between a first operation in which the operating unit is operated by an occupant riding in the living space and a second operation in which the operating unit is operated by a third party other than the occupant.

2. The moving body according to claim 1 , wherein the control unit maintains an orientation of the living space horizontally during the movement by the orientation maintenance control.

3. The control unit is A direction angle that determines the orientation of the living space is detected, The direction maintenance control controls the direction angle to fall within a predetermined range; The moving body according to claim 1 , wherein the predetermined range is made different between the first operation and the second operation.

4. The moving body according to claim 1 , wherein the control unit performs the direction maintenance control with higher control accuracy during the second operation than during the first operation.

5. The main body is configured so that the living space can be replaced between a first living space in which an occupant can sit or stand and a second living space in which an occupant can lie down, The operation unit includes: a first operating unit provided in association with the first living space and operated by an occupant in the first living space; a second operating unit provided in association with the second living space and operated by a third party other than the occupant in the second living space; The moving body of claim 1, wherein the control unit defines a first operation time as a time when the driving state of the moving body is controlled based on a signal from the first operating unit, and a second operation time as a time when the driving state of the moving body is controlled based on a signal from the second operating unit, and differs in control accuracy of the direction maintenance control between the first operation time and the second operation time.

6. The moving body according to claim 5 , wherein the main body further comprises a loading platform on which luggage can be placed or loaded when the first living space is provided as the living space.

7. The first rim portion and the second rim portion are connected to each other so as to be able to swing about an axis extending in the left-right direction, The moving body according to claim 1 , wherein the control unit controls an amount of relative swinging displacement between the first rim portion and the second rim portion during the direction maintenance control.

8. The main body is supported to be swingable about an axis extending in the left-right direction relative to the shaft portion, The moving body according to claim 7 , wherein the control unit, in the direction maintenance control, further controls an amount of swing displacement of the main body unit about an axis extending in the left-right direction.

9. The control unit is a vibration suppression control that suppresses vibrations occurring in the living area during the movement during both the first operation and the second operation; The moving body according to claim 1 , wherein vibrations generated in the living area during the second operation are suppressed to be smaller than those during the first operation.

10. A main body having a living space in which a passenger can sit; A body support part that supports the body part on the ground or floor surface during movement; An operation unit; a control unit that controls a driving state of the moving body when the moving body moves with an occupant aboard the main body based on a signal from the operation unit, The main body is configured to be replaceable between a first living space in which the operating unit is operated by an occupant who is riding in the living space and a second living space in which the operating unit is operated by a third party other than the occupant, The main body support portion is A first rim portion; a second rim portion arranged in the left-right direction with respect to the first rim portion so as to sandwich the main body portion between the first rim portion and the second rim portion, and connected to the first rim portion via an axis portion provided along an axis extending in the left-right direction, Each of the first rim portion and the second rim portion is a rim body portion extending in a front-rear direction and having a first hip joint portion formed on one end side in the front-rear direction and a second hip joint portion formed on the other end side; A first leg portion connected to the rim body portion via the first hip joint portion so as to be capable of inward and outward rotation; a second leg portion connected to the rim body portion via the second hip joint portion so as to be capable of inward and outward rotation, The control unit is performing a direction maintenance control for maintaining a constant orientation of the living space by movements of the first and second legs including adduction and abduction at the hip joint during the movement; A moving body, wherein a control accuracy of the direction maintenance control is made different between when the living space provided in the main body is the first living space and when the living space is the second living space.

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