Pedal type calibration device

Abstract

To provide a pedal type calibration device capable of acquiring an operation amount of a pedal.SOLUTION: The pedal type calibration device includes an accelerator pedal body having a stepping surface to be stepped on by a user, a first support part extending from the accelerator pedal body and connected to a first fulcrum to allow the accelerator pedal body to rotate about the first fulcrum, a first sensor part disposed at the first fulcrum to measure an operation amount of the accelerator pedal body, a brake pedal body having a stepping surface to be stepped on by the user, a second support part extending from the brake pedal body and connected to a second fulcrum to support the brake pedal body rotatably about the second fulcrum, and a second sensor part disposed at a distal end of the brake pedal body to measure an operation amount of the brake pedal body.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a pedal-type calibration device. [Background technology]

[0002] Conventionally, in the evaluation of test vehicles, some tests have been conducted using pedal control measuring devices. These control measuring devices operate the accelerator, brake, and other pedals instead of the person during the test. This allows for tests with excellent reproducibility and repeatability. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 8-128925 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, when calibrating a pedal control measuring instrument, the measuring instrument (for example, a sensor) built into the device is removed and calibration is performed using only the measuring instrument. However, calibration of the measuring instrument alone cannot prove the correctness of the control when the measuring instrument is incorporated into the pedal control measuring instrument. On the other hand, if the pedal control measuring instrument is to be calibrated while it is mounted on the test vehicle, there is no space to attach a standard device on the test vehicle, making it impossible to compare the measured values ​​of the pedal control measuring instrument and the test vehicle. Also, the pedals of the test vehicle have what are known as "play" and "backlash," which means that even if the pedal is depressed, there is an amount of depression that does not contribute to vehicle operation, and due to the structure of the pedals of the test vehicle, calibration cannot be performed while the pedal control measuring instrument is mounted on the test vehicle.

[0005] The present disclosure provides a pedal-type calibration device that acquires the amount of pedal operation. [Means for solving the problem]

[0006] One embodiment of the pedal-type calibration device comprises an accelerator pedal body having a tread surface that is depressed by an actuator, a first support part that extends from the accelerator pedal body and connects to a first fulcrum, allowing the accelerator pedal body to rotate around the first fulcrum, a first sensor part that is disposed at the first fulcrum and measures the amount of operation of the accelerator pedal body, a brake pedal body having a tread surface that is depressed by the actuator, a second support part that extends from the brake pedal body and connects to a second fulcrum, supporting the brake pedal body so that it can rotate around the second fulcrum, and a second sensor part that is disposed at the tip of the brake pedal body and measures the amount of operation of the brake pedal body. [Effects of the Invention]

[0007] The pedal-type calibration device of the present disclosure can acquire the pedal operation amount. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram (schematic front view) for explaining a pedal-type calibration device according to an embodiment. [Figure 2] FIG. 2 is a diagram (schematic side view) for explaining an example of an accelerator pedal. [Figure 3] FIG. 2 is a diagram (schematic side view) for explaining an example of a brake pedal. [Figure 4] FIG. 1 is a diagram for explaining an example of a pedal-type calibration device including an information processing device and an operation robot. [Figure 5] 10 is a flowchart for explaining the operation of the pedal-type calibration device. DETAILED DESCRIPTION OF THE INVENTION

[0009] An embodiment will be described below.

[0010] [Configuration of pedal-type calibration device 100] First, a pedal-type calibration device 100 according to an embodiment will be described. FIG. 1 is a diagram (schematic front view) for explaining a pedal-type calibration device 100 according to one embodiment.

[0011] The pedal-type calibration device 100 has a configuration that imitates the pedals of a vehicle (for example, an accelerator pedal and a brake pedal).

[0012] The pedal-type calibration device 100 has an accelerator pedal 110 and a brake pedal 120, each of which is operated by a user. The user here is an operating robot 300 (see FIG. 4). The operating robot 300 (user) is equipped with actuators 310 arranged opposite to the tread surface 111a of the accelerator pedal body 111 and the tread surface 121a of the brake pedal body 121. That is, the operating robot 300 (user) performs operation control so as to independently step on the accelerator pedal 110 and the brake pedal 120 using the extendable actuators 310 (for example, a first actuator 311 and a second actuator 312 (see FIG. 4)).

[0013] (Accelerator pedal 110) FIG. 2 is a diagram (schematic side view) for explaining an example of accelerator pedal 110. As shown in FIG.

[0014] The accelerator pedal 110 of the pedal-type calibration device 100 includes an accelerator pedal body 111, a first support portion 112, a first sensor portion 114, and the like.

[0015] The accelerator pedal body 111 has a tread surface 111a that is stepped on by the user. The tread surface 111a may be, for example, a plate-like member that can be stepped on by the user.

[0016] The first support portion 112 has various shapes, including, for example, a rod shape or a plate shape. One end portion 112a of the first support portion 112 is fixed to the accelerator pedal body 111. The other end portion 112b of the first support portion 112 (the end portion opposite to the one end portion 112a) is connected to a first fulcrum 113. In other words, the first support portion 112 extends from the accelerator pedal body 111 and connects to the first fulcrum 113, allowing the accelerator pedal body 111 to rotate (move in a rotating manner) around the first fulcrum 113.

[0017] First sensor unit 114 is disposed at first fulcrum 113 and measures the amount of operation of accelerator pedal body 111. First sensor unit 114 may measure the rotation angle of accelerator pedal body 111 rotating around first fulcrum 113 as the amount of operation of accelerator pedal body 111. As a specific example, first sensor unit 114 may be any of various sensors capable of measuring angles, such as a rotary encoder. First sensor unit 114 can calculate the amount of displacement, i.e., the amount of operation of accelerator pedal 110 (accelerator pedal body 111) (accelerator pedal stroke amount (first operation amount)), based on the rotation angle measured by the rotary encoder, for example.

[0018] (Brake pedal 120) FIG. 3 is a diagram (schematic side view) for explaining an example of the brake pedal 120. As shown in FIG.

[0019] The brake pedal 120 of the pedal-type calibration device 100 includes a brake pedal body 121, a second support portion 122, a third support portion 124, a second sensor portion 126, and the like.

[0020] The brake pedal body 121 has a tread surface 121a that is stepped on by a user. The tread surface 121a may be, for example, a plate-like member that can be stepped on by a user.

[0021] The second support portion 122 has various shapes, such as a rod shape or a plate shape. One end portion 122a of the second support portion 122 is fixed to the brake pedal body 121. The other end portion 122b of the second support portion 122 (the end portion opposite to the one end portion 122a) is connected to a second fulcrum. That is, the second support portion 122 extends from the brake pedal body 121 and connects to the second fulcrum, and supports (makes) the brake pedal body 121 rotatable about the second fulcrum.

[0022] In the example shown in Figure 3, the third support part 124 may be connected to the back surface 121b of the brake pedal body 121 (the surface opposite to the tread surface 121a that is stepped on by the user) and extended in the direction (depth direction) in which the brake pedal body 121 is stepped on (or approximately the depth direction, such as diagonally upward). The third support portion 124 has various shapes, such as a rod shape or a plate shape. One end portion 124a of the third support portion 124 is fixed to the brake pedal body 121. One end portion 124a of the third support portion 124 is fixed, for example, to the same (substantially the same) position as one end portion 122a of the second support portion 122 or to a different position. The other end portion 124b of the third support portion 124 (the end portion (tip portion) opposite to one end portion 124a) comes into contact with the sensor surface 1261 of the second sensor portion 126. The third support portion 124 has a spring 125 (elastic body) disposed between one end portion 124a and the other end portion 124b (or between the third support portion 124 and the second sensor portion 126). The spring 125 (elastic body) contracts when the brake pedal 120 is operated (depressed by the user), and returns to its original state (expands) when the brake pedal 120 is not operated (depressed by the user). As a specific example, the spring 125 may be a compression spring or the like.

[0023] The second sensor portion 126 may, for example, comprise a working reference standard (a calibrated standard). The second sensor unit 126 is disposed at the tip end of the third support portion 124 connected to the brake pedal main body 121 (contacting the other end portion 124b), and measures the amount of operation of the brake pedal main body 121. The second sensor unit 126 may measure the pressure (force) when the brake pedal main body 121 is depressed, as the amount of operation of the brake pedal main body 121. As a specific example, the second sensor unit 126 is a load meter and has a sensor surface 1261 for measuring the load. The sensor surface 1261 may be, for example, the tip surface of a protruding member 1262. The second sensor unit 126 receives the load on the sensor surface 1261 via the third support portion 124, thereby measuring the pressure (force) when the brake pedal main body 121 is depressed. In addition, the second sensor unit 126 is capable of calculating the operation amount (brake stroke amount (second operation amount)) of the brake pedal main body 121 using physical laws such as Hooke's law based on the spring constant (constant of the elastic body) of the spring 125 (elastic body) arranged in the third support unit 124 and the pressure (force) to be measured.

[0024] (Information processing device 200 (proofreading unit)) FIG. 4 is a diagram illustrating an example of a pedal-type calibration device 100 including an information processing device 200 and an operation robot 300. As shown in FIG.

[0025] The information processing device 200 (computer) of the pedal-type calibration device 100 functions as a calibration unit. The information processing device 200 calibrates the operation robot 300 based on the operation amount measured by the first sensor unit 114, the operation amount measured by the second sensor unit 126, and the operation amount of each of the multiple actuators 310.

[0026] The information processing device 200 (computer) of the pedal-type calibration device 100 acquires a value measured by the first sensor unit 114 of the pedal-type calibration device 100 (e.g., accelerator stroke amount (first operation amount)) and a value measured by the second sensor unit 126 of the pedal-type calibration device 100 (e.g., brake stroke amount (second operation amount)).

[0027] Furthermore, the information processing device 200 (computer) of the pedal-type calibration device 100 acquires operation amount information, which will be described later, from the operation robot 300. That is, the information processing device 200 (computer) of the pedal-type calibration device 100 acquires the operation amount (extension / contraction distance) (third operation amount) of the actuator 310 (first actuator 311) and the operation amount (extension / contraction distance) (fourth operation amount) of the actuator 310 (second actuator 312). As will be described later, the first actuator 311 operates the accelerator pedal body 111 (accelerator pedal 110) of the pedal-type calibration device 100. Also, as will be described later, the second actuator 312 operates the brake pedal body 121 (brake pedal 120) of the pedal-type calibration device 100. The third operation amount may be a control amount (extension / contraction distance as a control result) when the operation robot 300 extends or contracts the first actuator 311. The fourth operation amount may be a control amount (extension / contraction distance as a control result) when the operation robot 300 extends or contracts the second actuator 312.

[0028] The information processing device 200 (computer) of the pedal-type calibration device 100 uses the first operation amount as a reference value and calibrates the movement amount (third operation amount) of the first actuator 311 of the operating robot 300 based on a comparison between the first operation amount (reference value) and the third operation amount. The calibration here may be, for example, determining whether the first operation amount and the third operation amount match, or, if the first operation amount and the third operation amount do not match, adjusting how much the control amount of the first actuator 311 needs to be changed so that the first operation amount and the third operation amount match (adjusting the third operation amount according to the first operation amount).

[0029] Furthermore, the information processing device 200 (computer) of the pedal-type calibration device 100 uses the second operation amount as a reference value and calibrates the movement amount (fourth operation amount) of the second actuator 312 of the operating robot 300 based on a comparison between the second operation amount (reference value) and the fourth operation amount. The calibration here may be, for example, determining whether the second operation amount and the fourth operation amount match, or, if the second operation amount and the fourth operation amount do not match, adjusting how much the control amount of the second actuator 312 needs to be changed so that the second operation amount and the fourth operation amount match (adjusting the fourth operation amount according to the second operation amount).

[0030] The information processing device 200 can communicate with, for example, the pedal-type calibration device 100 and the operation robot 300, and can perform various types of arithmetic processing and various types of control using its own control unit (for example, a processor, etc.) (not shown). The information processing device 200 may be, for example, a server, a desktop, a laptop, a tablet, a smartphone, etc.

[0031] [Operation Robot 300] Next, the operation robot 300 will be described.

[0032] The operating robot 300 (user) is mounted on a real vehicle (test vehicle) and is capable of operating the accelerator pedal and brake pedal of the real vehicle. When calibrating the operation robot 300 (for example, calibrating the actuator 310, etc.), the operation robot 300 is mounted on the pedal-type calibration device 100. The operation robot 300 is equipped with actuators 310, etc. (for example, a first actuator 311 and a second actuator 312, etc.) that independently operate the accelerator pedal 110 and the brake pedal 120 of the pedal-type calibration device 100 (see FIGS. 2 to 4).

[0033] As described above, the operating robot 300 (user) is mounted on the pedal-type calibration device 100 when calibrating the operation amounts (control amounts) of the multiple actuators 310. In this case, the multiple actuators 310 are capable of operating the accelerator pedal 110 and the brake pedal 120 of the pedal-type calibration device 100. That is, the operating robot 300 includes, for example, a first actuator 311 that is disposed opposite the tread surface 111a of the accelerator pedal main body 111 and operates the accelerator pedal main body 111 (accelerator pedal 110). The operating robot 300 also includes, for example, a second actuator 312 that is disposed opposite the tread surface 121a of the brake pedal main body 121 and operates the brake pedal main body 121 (brake pedal 120). The operating robot 300 can independently operate the accelerator pedal main body 111 and the brake pedal main body 121 using the actuators 310 (for example, the first actuator 311 and the second actuator 312, respectively).

[0034] The operating robot 300 may be equipped with robot sensors (e.g., a first robot sensor and a second robot sensor) that measure the movement amount of the actuator 310. That is, the first robot sensor may be a sensor that measures the movement amount of the first actuator 311 (e.g., the length of extension (contraction) etc.). The second robot sensor may be a sensor that measures the movement amount of the second actuator 312 (e.g., the length of extension (contraction) etc.).

[0035] Alternatively, the operating robot 300 may include a control unit 320 (e.g., a processor) that independently operates the multiple actuators 310. The control unit 320 transmits to each actuator 310 a control signal recording the amount of movement (amount of control) for extending or contracting each actuator 310, and controls each actuator 310 to extend or contract by the amount of movement (amount of control) based on the control signal.

[0036] The operation robot 300 transmits operation amount information including information on the operation amount measured by the robot sensor or the operation amount recorded in the control signal to the information processing device 200 of the pedal-type calibration device 100.

[0037] [Operation of the pedal-type calibration device 100] Next, the operation of the pedal-type calibration device 100 will be described. FIG. 5 is a flowchart for explaining the operation of the pedal-type calibration device 100.

[0038] In step ST101, the operating robot 300 is mounted on the pedal-type calibration device 100. In this case, the first actuator 311 of the operating robot 300 is disposed opposite (for example, in contact with) the accelerator pedal body 111 of the pedal-type calibration device 100. Also, the second actuator 312 of the operating robot 300 is disposed opposite (for example, in contact with) the brake pedal body 121 of the pedal-type calibration device 100.

[0039] In step ST102, the operating robot 300, for example, under the control of its own control unit 320, extends (or contracts or expands, etc.) the first actuator 311 and depresses (operates) the accelerator pedal main body 111 (accelerator pedal 110). In this case, the first sensor unit 114 of the pedal-type calibration device 100 measures the amount of depression (operation amount). That is, the first sensor unit 114 may, for example, measure the rotation angle of the accelerator pedal main body 111 (accelerator pedal 110) rotating about the first fulcrum 113, and calculate the operation amount of the accelerator pedal main body 111 (accelerator pedal 110) (for example, accelerator stroke amount (first operation amount)) based on, for example, the rotation angle and the distance between the first fulcrum 113 and the accelerator pedal main body 111.

[0040] In step ST103, the operating robot 300 extends (or contracts or expands, etc.) the second actuator 312 under the control of its own control unit 320, for example, to depress (operate) the brake pedal main body 121 (brake pedal 120. In this case, the second sensor unit 126 of the pedal-type calibration device 100 measures the amount of depression (operation amount). That is, the second sensor unit 126 measures, for example, the force (pressure) when the brake pedal main body 121 (brake pedal 120) is depressed via the third support unit 124. At this time, the spring 125 arranged in the third support unit 124 (between the third support unit 124 and the second sensor unit) contracts in response to the depression (operation) of the brake pedal 120. The second sensor unit may calculate the amount of operation of the brake pedal main body 121 (brake pedal 120) (e.g., brake stroke amount (second operation amount)) using, for example, Hooke's law or the like based on the spring constant of the spring 125 and its force (pressure).

[0041] In step ST104, the information processing device 200 of the pedal type calibration device 100 acquires from the operation robot 300 the operation amount of the first actuator 311 (third operation amount) and the operation amount of the second actuator 312 (fourth operation amount) in step ST101. The information processing device 200 acquires a first amount of operation based on the measurement by the first sensor unit 114 in step ST102. The information processing device 200 acquires a second amount of operation based on the measurement by the second sensor unit 126 in step ST103. The information processing device 200 uses the first operation amount as a reference value and, based on a comparison between the first operation amount (reference value) and the third operation amount, calibrates the third operation amount, the control unit 320 of the operation robot 300, and the control amount used by the control unit 320 to control the extension and contraction of the first actuator 311. The calibration here may be, for example, determining whether the first operation amount and the third operation amount match, or, if the first operation amount and the third operation amount do not match, adjusting how much the control amount of the first actuator 311 needs to be changed so that the first operation amount and the third operation amount match. The information processing device 200 uses the second operation amount as a reference value and, based on a comparison between the second operation amount (reference value) and the fourth operation amount, calibrates the fourth operation amount, the control unit 320 of the operating robot 300, and the control amount used by the control unit 320 to control the extension and contraction of the second actuator 312. The calibration here may be, for example, determining whether the second operation amount and the fourth operation amount match, or, if the second operation amount and the fourth operation amount do not match, adjusting how much the control amount of the second actuator 312 needs to be changed so that the second operation amount and the fourth operation amount match.

[0042] [Aspects and Effects of the Present Embodiment] Next, one aspect of this embodiment and the effects of each aspect will be described. Note that each aspect described below is an example at the time of filing, and this embodiment is not limited to the aspects described below. In other words, this embodiment is not limited to the aspects described below, and may be realized by appropriately combining the above-mentioned parts. Furthermore, a lower-level aspect may be able to cite any of the higher-level aspects. The effects of the present embodiment described below are merely examples, and the effects of each aspect are not limited to those described below. Each aspect may, for example, achieve at least one of the effects described below.

[0043] (Aspect 1) One embodiment of the pedal-type calibration device includes an accelerator pedal body having a tread that is stepped on by a user, a first support part that extends from the accelerator pedal body and connects to a first fulcrum, allowing the accelerator pedal body to rotate around the first fulcrum, a first sensor part that is disposed at the first fulcrum and measures the amount of operation of the accelerator pedal body, a brake pedal body having a tread that is stepped on by a user, a second support part that extends from the brake pedal body and connects to a second fulcrum, supporting the brake pedal body so that it can rotate around the second fulcrum, and a second sensor part that is disposed at the tip of the brake pedal body and measures the amount of operation of the brake pedal body. The pedal-type calibration device can acquire the amount of pedal operation when the operating robot (user) steps on (operates) the pedal. The pedal-type calibration device is mainly configured to include an accelerator pedal, a first sensor unit, a brake pedal, a second sensor unit, etc., which are essential components (components) for an actual vehicle such as a test vehicle, but do not require components (for example, a steering wheel, gears, etc.) that are unnecessary for pedal calibration. This makes it easier to install an operation robot in the pedal-type calibration device than in a test vehicle (actual vehicle), and reduces the labor and time required for installation. Furthermore, as described above, the pedal-type calibration device does not require the installation of components unnecessary for pedal calibration (e.g., a handle, gears, an engine, a motor, etc.), and therefore can take up more space than a test vehicle (actual vehicle), and the first sensor unit, second sensor unit, etc. can be arranged in that space. Furthermore, the pedal-type calibration device can measure the operation amount with the first sensor unit and the second sensor unit immediately after the accelerator pedal and the brake pedal are depressed, for example, and therefore can ignore the "play" and "backlash" of the pedals as seen in a test vehicle (actual vehicle). In other words, the pedal-type calibration device can measure the operation amount more accurately than a test vehicle (actual vehicle). Furthermore, the pedal-type calibration device can calibrate the operation robot more accurately based on this more accurate measurement.

[0044] (Aspect 2) In one aspect of the pedal-type calibration device, the first sensor unit may measure a rotation angle of the accelerator pedal body that rotates about the first fulcrum as the operation amount of the accelerator pedal body. This allows the pedal-type calibration device to obtain the amount of operation when the accelerator pedal is operated. Furthermore, since the pedal-type calibration device has a first sensor unit (e.g., a rotary encoder) located at the first fulcrum when the accelerator pedal main body (accelerator pedal) is depressed and moves, if the accelerator pedal main body (accelerator pedal) is depressed (operated), the first sensor unit can immediately measure the rotation angle even if the amount of depression (operation amount) is relatively small. In other words, the pedal-type calibration device can ignore the "play" and "backlash" of the accelerator pedal main body (accelerator pedal), and can perform more accurate measurements than a test vehicle (actual vehicle).

[0045] (Aspect 3) In one aspect of the pedal-type calibration device, the second sensor unit may measure the pressure when the brake pedal body is depressed, as the operation amount of the brake pedal body. The pedal-type calibration device measures the force (pressure) of the brake pedal body (brake pedal) when it is depressed (operated), and can calculate the amount of operation of the brake pedal body (brake pedal) based on the spring constant of the spring (elastic body) that contracts when the brake pedal is depressed and the force (pressure) of the brake pedal. Furthermore, the pedal-type calibration device can immediately measure the force (pressure) using the second sensor unit disposed in the direction of depression (depth direction) even when the brake pedal main body (brake pedal) is depressed (operated) relatively slightly. In other words, when the brake pedal main body (brake pedal) is depressed, the pedal-type calibration device transmits the depression force (pressure) directly to the second sensor unit via the third support unit or the like connected to the brake pedal main body (brake pedal). Therefore, the pedal-type calibration device can ignore the "play" and "backlash" of the brake pedal main body (brake pedal), and can perform more accurate measurements than a test vehicle (actual vehicle).

[0046] (Aspect 4) One embodiment of the pedal-type calibration device may have actuators arranged opposite the tread surfaces of the accelerator pedal body and the brake pedal body, and may be equipped with an operating robot that can operate the accelerator pedal body and the brake pedal body independently using the actuators. In other words, one embodiment of the pedal-type calibration device may be equipped with an operating robot as a user described in the above embodiment, which faces the tread surface of the accelerator pedal body and the tread surface of the brake pedal body, has actuators (multiple actuators) that are capable of stepping on (operating) those tread surfaces, and can operate the accelerator pedal body and the brake pedal body independently using those actuators. This makes it easier to mount an operating robot on the pedal-type calibration device than on a test vehicle (actual vehicle), and allows the actuator (first actuator) to be engaged with (installed opposite) the accelerator pedal body, and the actuator (second actuator) to be engaged with (installed opposite) the brake pedal body.

[0047] (Aspect 5) One embodiment of the pedal-type calibration device may include an information processing device that calibrates the operating robot (user) based on the operation amount measured by the first sensor unit, the operation amount measured by the second sensor unit, and the operation amount of each of the multiple actuators. This allows the pedal-type calibration device to calibrate, for example, the operation amount of the actuator and the operating robot (user) of the actuator, etc. In other words, the pedal-type calibration device can calibrate the operating robot that operates the pedal.

[0048] (Aspect 6) In one aspect of the pedal-type calibration device, the operating robot may be equipped with a robot sensor that measures the amount of movement of the actuator. In addition, in one aspect of the pedal-type calibration device, the operating robot may transmit to the actuator a control signal that records the amount of movement when operating the actuator. That is, in one embodiment of the pedal-type calibration device, the operating robot may transmit movement amount information including information about the movement amount measured by the robot sensor or the movement amount to be recorded in the control signal to the pedal-type calibration device (information processing device of the pedal-type calibration device). As a result, the pedal-type calibration device can calibrate the operation amounts of the multiple actuators, the multiple actuators and the operating robot (control unit), etc., based on the operation amount measured by the first sensor unit, the operation amount measured by the second sensor unit, and the operation amount of each of the multiple actuators recorded in the operation amount information, for example, through various processes in the information processing device. [Explanation of symbols]

[0049] 100 Pedal-type calibration device 110 Accelerator pedal 111 Accelerator pedal body 112 1st support part 113 First Support 114 First sensor unit 120 Brake pedal 121 Brake pedal body 122 Second support part 123 Second Fulcrum 124 Third support part 125 spring 126 Second sensor unit 200 Information processing device 300 Controlled Robot 310 Actuator 311 First Actuator 312 Second Actuator 320 Control Unit

Claims

1. an accelerator pedal body having a tread surface to be stepped on by a user; a first support portion extending from the accelerator pedal body and connected to a first fulcrum, allowing the accelerator pedal body to rotate about the first fulcrum; a first sensor unit disposed at the first fulcrum and configured to measure an operation amount of the accelerator pedal body; a brake pedal body having a tread surface to be stepped on by the user; a second support portion extending from the brake pedal body and connected to a second fulcrum, and supporting the brake pedal body rotatably about the second fulcrum; a second sensor unit disposed at a tip end of the brake pedal body and configured to measure an operation amount of the brake pedal body; A pedal-type calibration device comprising:

2. The first sensor unit measures a rotation angle of the accelerator pedal body that rotates around the first fulcrum as an operation amount of the accelerator pedal body. The pedal-type calibration device according to claim 1 .

3. The second sensor unit measures the pressure when the brake pedal body is depressed as the operation amount of the brake pedal body. The pedal-type calibration device according to claim 1 .

4. and an operating robot having actuators disposed opposite to the tread surface of the accelerator pedal body and the tread surface of the brake pedal body, the operating robot being capable of independently operating the accelerator pedal body and the brake pedal body using the actuators. The pedal-type calibration device according to claim 1 .

5. and an information processing device that calibrates the operation robot based on the operation amount measured by the first sensor unit, the operation amount measured by the second sensor unit, and the operation amount of each of the plurality of actuators. The pedal-type calibration device according to claim 4 .

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