Vibration absorbing structure, vibration absorbing method, and mobile body

Abstract

To more accurately detect the direction of running vibration by reducing the influence of road surface inclination, and suppress the running vibration.SOLUTION: A vibration absorbing structure for absorbing running vibration generated in a mobile body comprises: a pendulum that vibrates in the traveling direction of the mobile body; a gyrosensor disposed on the pendulum and configured to detect the running vibration of the mobile body; and a control device configured to control the height of a seat base provided in the mobile body based on an output of the gyrosensor.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a vibration absorbing structure, a vibration absorbing method, and a moving body. [Background technology]

[0002] Regarding technology for absorbing vibrations generated in moving bodies such as automobiles and railway vehicles, for example, Patent Document 1 describes a suspension control device for suppressing train vibrations, which includes a vertical damper connected to the lower bogie of the train's coupling and the coupling, detects vertical vibrations using an acceleration sensor installed on the bogie, and controls an actuator that adjusts the damping force of the vertical damper according to the detection results from the acceleration sensor.

[0003] Furthermore, for example, Patent Document 2 describes a technology for a suspension control device that suppresses vibrations in an automobile, which reduces vibrations transmitted from under the springs of the front and rear wheels to the vehicle body via the suspension based on the output of vertical acceleration sensors placed at three arbitrary points on the vehicle that are not in a straight line. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-009696 [Patent Document 2] Japanese Patent Application Publication No. 8-175146 Summary of the Invention [Problem to be solved by the invention]

[0005] As in the technologies described in Patent Documents 1 and 2, acceleration sensors are often used in vibration absorbing structures for moving objects. To suppress vibrations caused by a moving object while it is traveling, it is necessary to use acceleration sensors to detect the acceleration in the vertical Z direction and the acceleration in the front-to-back X direction of the moving object, and to calculate control values ​​for actuators and the like based on these accelerations. In this case, the control program becomes complicated, which increases costs and development time.

[0006] One solution to this problem is to use a gyro sensor instead of an acceleration sensor. A gyro sensor can detect the acceleration of a moving object in the up, down, forward, and backward directions as angular velocity, which allows for a relatively simple control program.

[0007] However, if the gyro sensor is simply fixed to the moving body, when the moving body is traveling on an inclined surface such as a slope, it will be affected by the slope of the road surface, and the direction of traveling vibrations cannot be accurately detected.

[0008] The present invention has been made in consideration of the above circumstances, and aims to reduce the influence of road surface inclination, more accurately detect the direction of running vibrations, and suppress the running vibrations. [Means for solving the problem]

[0009] The present application includes a number of means for solving at least part of the above problems, examples of which are as follows.

[0010] In order to solve the above problems, one aspect of the vibration absorbing structure of the present invention is a vibration absorbing structure for absorbing traveling vibrations generated in a moving body, and includes a pendulum that vibrates in the direction of movement of the moving body, a gyro sensor that is disposed on the pendulum and detects traveling vibrations of the moving body, and a control device that controls the height of a seat base provided on the moving body based on the output of the gyro sensor.

[0011] The gyro sensor can detect vibrations of the moving body during travel as an angular velocity around an axis parallel to the width direction of the moving body and perpendicular to the direction of travel and the vertical direction.

[0012] The control device can control the height of the seat base by controlling a motor that drives a crank mechanism including a link whose one end is connected to the body of the moving body via a rotating shaft and whose other end is connected to the seat base via a rotating shaft.

[0013] The crank mechanism and the motor can be made from components of a power seat that the moving body is provided with.

[0014] The control device determines whether the pendulum has swung forward or backward based on the output of the gyro sensor, and if it determines that the pendulum has swung forward, it can lower the seat base, and if it determines that the pendulum has swung backward, it can raise the seat base.

[0015] The control device can determine whether the pendulum has swung forward and whether the pendulum has swung backward based on the magnitude and duration of the output of the gyro sensor.

[0016] The vibration absorbing structure may comprise a pendulum damper that damps the oscillation of the pendulum.

[0017] Another aspect of the vibration absorption method of the present invention is a vibration absorption method for absorbing traveling vibrations generated in a moving body, which obtains an output from a gyro sensor that is arranged on a pendulum that vibrates in the direction of movement of the moving body and detects the traveling vibrations of the moving body, and controls the height of a seat base provided on the moving body based on the output of the gyro sensor.

[0018] A moving body according to yet another aspect of the present invention includes the vibration absorbing structure and a seat base. [Effects of the Invention]

[0019] According to the present invention, the influence of the inclination of the road surface can be reduced, and the direction of the traveling vibration can be detected more accurately, thereby making it possible to suppress the traveling vibration.

[0020] Problems, configurations, and effects other than those described above will become apparent from the following description of the embodiments. [Brief explanation of the drawings]

[0021] [Figure 1] FIG. 1 is a front perspective view showing an example of the configuration of a moving body to which a vibration absorbing structure according to one embodiment of the present invention is applied. [Figure 2] FIG. 2 is a side view showing an example of the configuration of a moving body to which a vibration absorbing structure according to one embodiment of the present invention is applied. [Figure 3] FIG. 3 is a front elevational view showing an example of the configuration of a moving body to which a vibration absorbing structure according to one embodiment of the present invention is applied. [Figure 4] FIG. 4 is a top view showing an example of the configuration of a moving body to which a vibration absorbing structure according to one embodiment of the present invention is applied. [Figure 5] FIG. 5 is a rear front view showing an example of the configuration of a moving body to which a vibration absorbing structure according to one embodiment of the present invention is applied. [Figure 6] FIG. 6 is a rear perspective view showing an example of the configuration of a moving body to which a vibration absorbing structure according to one embodiment of the present invention is applied. [Figure 7] FIG. 7 is a diagram illustrating the function of the pendulum damper. [Figure 8] FIG. 8 is a diagram showing an example of the state of the pendulum and the gyro sensor when traveling uphill. [Figure 9] FIG. 9 is a diagram showing an example of the configuration of a vibration absorbing structure according to one embodiment of the present invention. [Figure 10] FIG. 10 is a flowchart illustrating an example of a vibration absorbing process by the vibration absorbing structure. DETAILED DESCRIPTION OF THE INVENTION

[0022] An embodiment of the present invention will be described below with reference to the drawings. In all drawings used to describe the embodiment, identical components are generally designated by the same reference numerals, and repeated description thereof will be omitted. Furthermore, in the following embodiments, components (including element steps, etc.) are not necessarily essential unless otherwise specified or considered to be clearly essential in principle. Furthermore, when the terms "consisting of A," "made of A," "having A," or "including A" are used, other elements are not excluded unless otherwise specified, specifically referring to only that element. Similarly, in the following embodiments, when referring to the shape, positional relationship, etc. of components, etc., these terms include those that are substantially similar or similar to the shape, etc., unless otherwise specified or considered to be clearly essential in principle.

[0023] <Configuration example of a moving body 10 to which a vibration absorbing structure according to an embodiment of the present invention is applied> 1 to 6 are schematic diagrams illustrating an example of the configuration of a moving body 10 to which a vibration absorbing structure according to one embodiment of the present invention is applied, with Fig. 1 being a front perspective view, Fig. 2 being a side view, Fig. 3 being a front front view, Fig. 4 being a top view, Fig. 5 being a rear front view, and Fig. 6 being a rear perspective view. Note that the relative sizes and arrangements of the components of the moving body 10 in each figure are not limited to the examples shown in the drawings.

[0024] The moving body 10 is, for example, an automobile or a railway train, and has a vibration absorbing structure for suppressing traveling vibrations that are received by personnel such as the driver and loaded luggage.

[0025] Hereinafter, the direction of movement (length direction) of the moving body 10 is defined as the X direction, the width direction of the moving body 10 as the Y direction, and the vertical direction as the Z direction. Furthermore, when it is necessary to distinguish between front and rear in the X direction, the forward direction is defined as the +X direction, and the rear direction is defined as the -X direction. The Z direction coincides with the height direction of the moving body 10 when the moving body 10 is traveling on a flat, non-inclined road surface, but may not coincide with the height direction of the moving body 10 when, for example, the moving body 10 is traveling on an inclined slope.

[0026] The vehicle 10 has, as its basic structure, a body 11, wheels 12 arranged on all four sides of the body 11, links 13, and a seat base 14.

[0027] One end of the link 13 is connected to the vehicle body 11 via a rotating shaft, and the other end is connected to the seat base 14 via a rotating shaft, thereby forming a crank mechanism that can change the height of the seat base 14 relative to the vehicle body 11 while keeping the angle of the seat base 14 relative to the vehicle body 11 constant. The crank mechanism is driven by a motor 40, which will be described later. Note that the crank mechanism is an example of a lifting mechanism that can change the height of the seat base 14 relative to the vehicle body 11, and other lifting mechanisms (for example, a linear motion mechanism such as a rack and pinion mechanism) may also be used. Furthermore, the lifting mechanism may be one that changes the angle of the seat base 14 relative to the vehicle body 11 as the height of the seat base 14 relative to the vehicle body 11 changes.

[0028] The seat base 14 is provided with seats for personnel to sit on and a luggage rack for placing luggage (neither of which is shown).

[0029] The moving body 10 also includes a gyro sensor 20, a control device 30, and a motor 40. The gyro sensor 20, the control device 30, and the motor 40 will be described later with reference to FIG.

[0030] If the vehicle 10 is equipped with a power seat, the link 13, the seat base 14, the gear box 41, and the motor 40 can be made from the components of the power seat.

[0031] Furthermore, the moving body 10 includes support members 21Y and 21Z, a hinge 22, a pendulum 23, and a pendulum damper 25. The gyro sensor 20 is attached to the pendulum 23.

[0032] Two support members 21Z extending in the height direction of the moving body 10 are fixed to the vehicle body 11. Support member 21Y extends in the Y direction and is fixed to the two support members 21Z. Pendulum 23 has a weight 24 inside it and is suspended from support member 21Y via hinge 22. Therefore, pendulum 23 oscillates in the X direction while suspended from support member 21Y, with hinge 22 as the fulcrum. Gyro sensor 20 attached to pendulum 23 outputs angular velocity ωy about an axis parallel to the Y direction (fulcrum 22P of hinge 22 (FIG. 7)), which corresponds to acceleration in the X and Z directions caused by vibrations during traveling.

[0033] The pendulum damper 25 is made of a material that can generate friction with the pendulum 23, such as a brush or sponge, and one end is fixed to the support members 21Z on both sides of the vibrating pendulum 23, and the other end is installed in a position where the lower end side of the pendulum 23 slides.

[0034] 7 is a diagram illustrating the function of the pendulum damper 25. The left side of the figure shows a state in which the mobile object 10 is traveling on a flat road surface, the pendulum 23 is not tilted, and the area of ​​contact portion 231 between the side surface at the bottom end of the pendulum 23 and the pendulum damper 25 is at its maximum. The center of the figure shows a state in which the mobile object 10 is traveling uphill, the pendulum 23 is tilted at about 10 degrees, and the area of ​​contact portion 231 between the side surface at the bottom end of the pendulum 23 and the pendulum damper 25 is smaller than in the left side of the figure. The right side of the figure shows a state in which the mobile object 10 is traveling uphill even steeper, the pendulum 23 is tilted at about 20 degrees, and the area of ​​contact portion 231 between the side surface at the bottom end of the pendulum 23 and the pendulum damper 25 is further smaller than in the center of the figure.

[0035] As is clear from the figure, the greater the inclination of the pendulum 23, the smaller the area of ​​the contact portion 231 between the side surface at the other end of the pendulum 23 and the pendulum damper 25, and the smaller the contact resistance of the pendulum damper 25 to the pendulum 23. When the pendulum 23 is in a horizontal position, the area of ​​the contact portion 231 is at its maximum, and the contact resistance is at its highest. This damps the oscillation of the pendulum 23, making it possible to converge the pendulum 23 to a horizontal position.

[0036] 8 shows an example of the state of the pendulum 23 and the gyro sensor 20 when the mobile object 10 is traveling uphill. As shown in the figure, even when the mobile object 10 is not horizontal but is in a state where the front is raised, the gyro sensor 20 is attached to the pendulum 23 and can therefore maintain its orientation in the Z direction. Therefore, even if there are irregularities on the uphill slope and traveling vibrations occur in the mobile object 10, the resulting accelerations in the X and Z directions can be more accurately detected as angular velocity ωy around an axis parallel to the Y direction.

[0037] Conversely, when the mobile object 10 is traveling downhill (not shown), the gyro sensor 20 can maintain its orientation in the Z direction because it is attached to the pendulum 23. Therefore, even if the downhill slope is uneven and causes traveling vibrations in the mobile object 10, the resulting accelerations in the X and Z directions can be detected more accurately as angular velocity ωy around an axis parallel to the Y direction.

[0038] 9 shows an example of the configuration of a vibration absorbing structure of the moving body 10. The vibration absorbing structure includes a gyro sensor 20, a control device 30, and a motor 40.

[0039] The gyro sensor 20 detects an angular velocity ωy about an axis parallel to the Y direction caused by vibrations occurring in the moving body 10 while it is traveling, and outputs the detected angular velocity to the control device 30. Based on the output of the gyro sensor 20, the control device 30 generates a motor control signal and outputs the signal to the motor 40. The motor 40 changes the height of the seat base 14 by driving the link 13 via a gear box 41 in accordance with the motor control signal.

[0040] <Output of the gyro sensor 20 and basic movement of the seat base 14> For example, when the wheel 12 of the moving object 10 goes over an obstacle such as a bump on the road, the moving object 10 decelerates slightly, causing the pendulum 23 and gyro sensor 20 to swing forward (in the +X direction) due to inertia. Then, the next moment, the wheel 12 moves upward to go over the bump, and the body 11 follows, causing the pendulum 23 and gyro sensor 20 to move in the Z direction. In this case, an upward thrust vibration occurs in the moving object 10, so the seat base 14 is instantly lowered to absorb this thrust vibration.

[0041] Then, the pendulum 23 and the gyro sensor 20 that have moved forward (+X direction) swing backward (-X direction) due to the reaction, and accordingly, the seat base 14 is instantly raised to its original position.

[0042] The output of the gyro sensor 20 and the magnitude of the movement of the seat base 14 need to be changed by the resistance of the hinge 22 and the contact resistance of the pendulum damper 25. For example, if the resistance of the hinge 22 or the contact resistance of the pendulum damper 25 is large, the movement of the pendulum 23 will be small, so the movement of the seat base 14 needs to be large. Conversely, if the resistance of the hinge 22 or the contact resistance of the pendulum damper 25 is small, the movement of the pendulum 23 will be large, so the movement of the seat base 14 needs to be small. The magnitude of the movement of the seat base 14 can be changed by, for example, adjusting the gear ratio of the gearbox 41 or the rotation amount of the motor 40.

[0043] <Vibration absorption treatment using vibration absorption structure> FIG. 10 is a flowchart illustrating an example of a vibration absorbing process performed by the vibration absorbing structure of the moving body 10. In FIG.

[0044] The vibration absorbing process is started, for example, when the moving body 10 starts moving, and is repeatedly executed while the moving body 10 is moving.

[0045] First, the control device 30 acquires the angular velocity ωy around the axis parallel to the Y direction, which is the output of the gyro sensor 20 (step S1). Next, the control device 30 determines whether the pendulum 23 and the gyro sensor 20 have swung forward (+X direction) based on the output of the gyro sensor 20 (step S2).

[0046] Here, if it is determined that the gyro sensor 20 has swung forward (YES in step S2), then the control device 30 generates a motor control signal for lowering the seat base 14 and outputs it to the motor 40. In accordance with the motor control signal, the motor 40 drives the link 13 via the gear box 41 to lower the seat base 14 (step S3).

[0047] Conversely, if it is determined that the gyro sensor 20 has not swung forward (NO in step S2), the control device 30 then determines whether the gyro sensor 20 has swung backward (in the -X direction) based on the output of the gyro sensor 20 (step S4).

[0048] If it is determined that the gyro sensor 20 has swung backward (YES in step S4), the control device 30 then generates a motor control signal for raising the seat base 14 and outputs it to the motor 40. In accordance with the motor control signal, the motor 40 drives the link 13 via the gear box 41 to raise the seat base 14 (step S5).

[0049] On the other hand, if the gyro sensor 20 determines that the vehicle 10 is not swinging backward (NO in step S4), the control device 30 returns the process to step S1 and repeats step S1 and subsequent steps. The vibration absorption process is then terminated, for example, when the vehicle 10 is parked.

[0050] In steps S2 and S4, in order to exclude the swing of the pendulum 23 and the gyro sensor 20 caused by the acceleration or deceleration (braking) of the vehicle speed of the moving body 10, the duration of the angular velocity ωy detected by the gyro sensor 20 is compared with a predetermined threshold value (e.g., 0.5 seconds), and if the duration is longer than the predetermined threshold value, it is excluded.

[0051] Furthermore, the amount of movement of the seat base 14 in steps S3 and S5 may be fixed, or may be changed depending on the magnitude and duration of the angular velocity ωy detected by the gyro sensor 20. Furthermore, an upper limit and a lower limit may be set for the amount of movement.

[0052] As described above, according to this embodiment, the direction of running vibrations can be accurately detected without being affected by the inclination of the road surface, and the running vibrations can be suppressed.

[0053] <Modification> In this embodiment, the gyro sensor 20 is disposed on the pendulum 23 that moves only in the X direction, but the shape of the hinge 22 may be changed so that the pendulum 23 can move not only in the X direction but also in the Y direction. This allows the gyro sensor 20 to detect traveling vibrations more accurately without being affected by the tilt of the moving body 10 in the X direction as well as the tilt in the Y direction.

[0054] The present invention is not limited to the above-described embodiments and modifications, and various other modifications are possible. For example, the above-described embodiments and modifications have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those having all of the described configurations. Furthermore, it is possible to replace a part of a modification with another modification, or to combine modifications.

[0055] Furthermore, some or all of the above-described configurations, functions, processing units, processing means, etc. may be implemented in hardware, for example, by designing them as integrated circuits. Furthermore, the above-described configurations, functions, etc. may be implemented in software by a processor interpreting and executing a program that implements each function. Information such as programs, tables, and files that implement each function may be stored in memory, a storage device such as a hard disk or SSD, or a storage medium such as an IC card, SD card, or DVD. Furthermore, the control lines and information lines shown are those considered necessary for explanation, and do not necessarily represent all control lines and information lines in the product. In reality, it can be assumed that almost all components are interconnected. [Explanation of symbols]

[0056] 10 moving body, 11 vehicle body, 12 wheel, 13 link, 14 seat base, 20 gyro sensor, 21Y, 21Z support member, 22 hinge, 23 pendulum, 24 weight, 25 pendulum damper, 30 control device, 40 motor, 41 gear box, 231 contact portion

Claims

1. A vibration absorbing structure for absorbing traveling vibrations generated in a moving body, a pendulum that oscillates in the direction of movement of the moving body; a gyro sensor disposed on the pendulum and detecting vibrations of the moving body while it is traveling; a control device that controls the height of a seat base provided on the moving body based on an output of the gyro sensor; Vibration absorbing structure.

2. The vibration absorbing structure according to claim 1, The gyro sensor detects vibrations of the moving body during travel as an angular velocity around an axis parallel to the width direction of the moving body and perpendicular to the direction of travel and the vertical direction. Vibration absorbing structure.

3. The vibration absorbing structure according to claim 1, The control device The height of the seat base is controlled by controlling a motor that drives a crank mechanism including a link having one end connected to the vehicle body via a rotary shaft and the other end connected to the seat base via a rotary shaft. Vibration absorbing structure.

4. The vibration absorbing structure according to claim 3, The crank mechanism and the motor can be made from components of a power seat that the moving body is provided with. Vibration absorbing structure.

5. The vibration absorbing structure according to claim 1, The control device determining whether the pendulum has swung forward and whether the pendulum has swung backward based on the output of the gyro sensor; When it is determined that the pendulum has swung forward, the seat base is lowered; When it is determined that the pendulum has swung backward, the seat base is raised. Vibration absorbing structure.

6. The vibration absorbing structure according to claim 5, The control device Based on the magnitude and duration of the output of the gyro sensor, it is determined whether the pendulum has swung forward and whether the pendulum has swung backward. Vibration absorbing structure.

7. The vibration absorbing structure according to claim 1, a pendulum damper for damping the oscillation of the pendulum. Vibration absorbing structure.

8. A vibration absorbing method for absorbing traveling vibrations generated in a moving body, comprising: An output is acquired from a gyro sensor that is disposed on a pendulum that vibrates in the moving direction of the moving body and detects vibrations of the moving body while the moving body is traveling; The height of the seat base of the moving body is controlled based on the output of the gyro sensor. Vibration absorption method.

9. The vibration absorbing structure according to any one of claims 1 to 7, A seating base and A mobile body comprising:

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