Acceleration reduction system

Abstract

To provide a technology that can reduce the motor power required to initiate pendulum motion and the delay in motion compared to conventional acceleration reduction devices. [Solution] An acceleration reduction system according to the embodiment is, as an example, an acceleration reduction system mounted on a moving body, comprising: a mounted object; and an acceleration reduction device that mounts the mounted object and reduces the force on the mounted object generated based on the acceleration and deceleration of the moving body by utilizing the pendulum motion of the mounted object, wherein the center of gravity of the acceleration reduction system is eccentric with respect to a reference line extended vertically from the center of rotation of the pendulum motion.

Description

Technical Field

[0001] Embodiments of the present invention relate to an acceleration reduction system.

Background Art

[0002] When a vehicle or a transport robot travels, an acceleration in the direction along the surface acts on a passenger on the seat surface of the vehicle seat or an object on the top surface of the table of the transport robot. Conventionally, research and development of an acceleration reduction device capable of reducing such acceleration have been carried out.

[0003] The acceleration reduction device oscillates a mounted object such as a seat or a table having a surface on which a person or an object rides, for example, during acceleration or deceleration or when traveling on an inclined surface. Thereby, the acceleration reduction device can reduce the acceleration in the direction along the surface acting on a person or an object.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In an acceleration reduction device, the pendulum motion of a mounted object is controlled based on various sensors and vehicle triggers (such as accelerator / brake / steering angle, etc.).

[0006] However, when the moment of inertia (inertia) of the mounted object is large, there is a possibility that a large motor power is required at the start of the pendulum motion, or a delay in the motion may occur.

[0007] Therefore, one of the problems of the present invention is to provide an acceleration reduction technology with high reactivity by reducing the motor power required at the start of the pendulum motion as compared with the conventional acceleration reduction device. [Means for solving the problem]

[0008] An example of an acceleration reduction system according to this embodiment is an acceleration reduction system implemented on a moving body, comprising a load and an acceleration reduction device that mounts the load and reduces the force on the load generated based on the acceleration and deceleration of the moving body by utilizing the pendulum motion of the load, wherein the center of gravity of the acceleration reduction system is eccentric with respect to a reference line extended vertically from the center of rotation of the pendulum motion. [Effects of the Invention]

[0009] According to the acceleration reduction system of this embodiment, compared to conventional acceleration reduction devices, it is possible to reduce the motor power required to initiate pendulum motion and the delay in motion. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is a schematic side view showing an example of an acceleration reduction system according to the first embodiment. [Figure 2] Figure 2 is a block diagram showing an example of the functional configuration of the acceleration reduction device of the acceleration reduction system according to the first embodiment. [Figure 3] Figure 3 is a diagram illustrating an example of the operation of the acceleration reduction system according to the first embodiment during deceleration. [Figure 4] Figure 4 is a diagram illustrating an example of the operation of the acceleration reduction device of the acceleration reduction system according to the first embodiment during deceleration. [Figure 5] Figure 5 is a diagram illustrating an example of the operation of the acceleration reduction device of the acceleration reduction system according to the first embodiment during deceleration. [Figure 6] Figure 6 is a diagram illustrating an example of the operation of the acceleration reduction system according to the first embodiment during acceleration. [Figure 7] Figure 7 is a diagram illustrating an example of the effects of the acceleration reduction system according to the first embodiment. [Figure 8]FIG. 8 is a flowchart showing an example of the operation flow of the acceleration reduction system according to the second embodiment.

Mode for Carrying Out the Invention

[0011] Hereinafter, the attitude control device of the present embodiment will be described with reference to the drawings. The configuration of the embodiments described below and the actions and effects brought about by the configuration are examples, and the present invention is not limited to the following description.

[0012] (First Embodiment) FIG. 1 is a side view schematically showing an example of the acceleration reduction system S according to the first embodiment. The acceleration reduction system S of the present embodiment is mounted on, for example, a moving body.

[0013] Here, the moving body is a movable object, and may be, for example, a vehicle (four-wheel, two-wheel, etc.), an autonomous mobile robot, a wheelchair, a personal mobility, an airplane, a drone, a railway, a ship, or the like. In the embodiment, for the sake of concreteness, the case where the moving body is a four-wheel vehicle will be described as an example.

[0014] In the following description, the "front-rear direction" indicates a direction parallel to the traveling direction of the moving body. The "left-right direction" is a direction perpendicular to the traveling direction of the moving body and parallel to the ground.

[0015] As shown in FIG. 1, the acceleration reduction system S includes an acceleration reduction device 1 and a mounted object 2. The mounted object 2 is fixed to the acceleration reduction device 1. The acceleration reduction device 1 causes the mounted object 2 to perform a pendulum motion and reduces the force applied to the mounted object 2 generated based on the acceleration and deceleration of the vehicle.

[0016] Further, the center of gravity position G1 of the acceleration reduction system S is set at a position eccentric from the vertical line (reference line L) from the virtual rotation center O of the pendulum motion of the mounted object 2 generated by the acceleration reduction device 1. In FIG. 1, the case where the center of gravity position G1 of the acceleration reduction system S is eccentric to the rear side (arrow in the figure) of the vehicle from the reference line L is illustrated.

[0017] The object 2 to be mounted is, for example, a seat including at least a pedestal, a loading platform, or the like. In the embodiment, for the sake of concreteness of the description, the case where the object 2 to be mounted is a seat of a four-wheeled vehicle (for example, a passenger seat, a rear seat) will be described as an example.

[0018] The object 2 to be mounted includes a pedestal portion 20, a backrest portion 22, and a headrest portion 24.

[0019] The pedestal portion 20 is fixed to the guide portion of the acceleration reduction device 1. The rotation angle about the rotation center O of the pedestal portion 20 can be changed by controlling the angle of the guide portion of the acceleration reduction device 1.

[0020] The backrest portion 22 is fixed to the pedestal portion 20. The headrest portion 24 is fixed to the backrest portion 22. The backrest portion 22 can be tilted in the front-rear direction of the moving body by a reclining mechanism. In the following description, the control of the angle of the pedestal portion 20 includes, for example, the fact that the backrest portion 22 and the headrest portion 24 also move integrally by controlling the angle of the pedestal portion 20.

[0021] The acceleration reduction device 1 includes a first guide portion, a second guide portion, a pedestal portion driving device 7, and an attitude control device 8. In FIG. 1, the second guide portion is not shown.

[0022] Based on the control from the attitude control device 8, the pedestal portion driving device 7 causes the first guide portion 10 to perform a pendulum motion in the front-rear direction of the vehicle about the rotation center O.

[0023] Based on the control from the attitude control device 8, the pedestal portion driving device causes the second guide portion to perform a pendulum motion in the left-right direction of the vehicle about the rotation center O.

[0024] Based on the control signal from the attitude control device 8, the pedestal portion driving device 7 supplies a driving force to at least one of the first rotation mechanism and the second rotation mechanism.

[0025] The attitude control device 8 controls the base drive unit 7 based on control parameters (described later) received from the vehicle.

[0026] Figure 2 is a block diagram showing an example of the functional configuration of the acceleration reduction device 1 of the acceleration reduction system S according to the first embodiment.

[0027] The acceleration reduction device 1 obtains the vehicle weight 31, braking force 32 (for example, the braking force detected from the brake operation amount or the driving force detected from the accelerator operation amount) from the vehicle V's powertrain control system 3, and the road surface friction coefficient from the road surface friction sensor 33. The acceleration reduction device 1 obtains the vehicle speed from the vehicle speed sensor 4, the steering angle from the steering sensor 5, and the acceleration (acceleration in the longitudinal, lateral, and vertical directions of the vehicle V) from the acceleration sensor 6.

[0028] The attitude control device 8 includes a calculation unit 81 and an output control unit 82.

[0029] The calculation unit 81 calculates the target angles of the base 20 in the longitudinal direction and the target angles of the base 20 in the lateral direction based on the acquired control parameters. Here, the control parameters include at least the current position of the base 20 (current longitudinal base angle and lateral base angle) obtained from the position sensor of the base drive unit 7, and the acceleration of the vehicle V obtained from the acceleration sensor 6. The control parameters may also include the vehicle weight obtained from the powertrain control system 3 of the vehicle V, the braking force value, the road friction coefficient obtained from the road friction sensor, and the steering angle obtained from the steering sensor 5.

[0030] The calculation unit 81 outputs the calculated target angles of the base in the front-to-back direction and the target angles of the base in the left-to-right direction to the output control unit 82.

[0031] The output control unit 82 controls the drive motor 72 of the base drive unit 7 based on the target angle of the base in the front-rear direction and the target angle of the base in the left-right direction obtained from the calculation unit 81.

[0032] The base drive unit 7 includes a position sensor 71, a drive motor 72, a forward / backward pendulum drive unit 73, and a left / right pendulum drive unit 74.

[0033] The position sensor 71 detects, for example, the current angle of the base in the front-to-back direction and the angle of the base in the left-to-right direction.

[0034] The drive motor 72 drives, for example, the longitudinal pendulum drive unit 73 in the longitudinal direction. The drive motor 72 also drives, for example, the lateral pendulum drive unit 74 in the lateral direction.

[0035] The longitudinal pendulum drive unit 73 is a mechanism that causes the first guide unit 10 (and the base unit 20 fixed to the first guide unit 10) to perform a longitudinal pendulum motion in order to reduce the effects of longitudinal acceleration when the vehicle accelerates or decelerates in the longitudinal direction and longitudinal acceleration a1 occurs in the vehicle. The longitudinal pendulum drive unit 73 can reduce the movement of occupants seated on the base unit 20 in the longitudinal direction due to the effects of acceleration or deceleration.

[0036] The lateral pendulum drive unit 74 is a mechanism that causes the second guide unit (and the base unit 20 fixed to the second guide unit) to perform a lateral pendulum motion in order to reduce the effect of the lateral acceleration a2 that occurs in the vehicle when the vehicle turns and moves in the lateral direction. The lateral pendulum drive unit 74 can reduce the lateral movement of occupants seated on the base unit 20 due to the effects of turning movement.

[0037] As described above, the center of gravity G1 of the acceleration reduction system S is eccentric to the rear side of the vehicle V with respect to the vertical line (reference line L) from the virtual rotation center O of the pendulum motion of the mounted object 2 generated by the acceleration reduction device 1. The operation of the acceleration reduction system S during deceleration, taking into account that the center of gravity G1 of the acceleration reduction system S is eccentric from the reference line L, will be explained below with reference to Figures 1, 3, 4, and 5.

[0038] Figure 3 is a diagram illustrating an example of the operation of the acceleration reduction system S according to the first embodiment during deceleration. Figures 4 and 5 are diagrams illustrating an example of the operation of the acceleration reduction device of the acceleration reduction system S according to the first embodiment during deceleration.

[0039] As shown in Figure 1, the center of gravity G1 of the acceleration reduction system S is eccentrically located behind the vehicle from the reference line L. Therefore, the pendulum with the acceleration reduction system S as its weight has more potential energy than when the center of gravity G1 of the acceleration reduction system S is on the reference line L (i.e., when the pendulum is not swinging). For this reason, the acceleration reduction system S is more prone to generating a rotational moment due to its own weight compared to when the center of gravity G1 of the acceleration reduction system S is on the reference line L.

[0040] Let's consider a scenario where vehicle V is traveling at a constant speed (with the acceleration reduction system S in the state shown in Figure 1) and then decelerates due to sudden braking or the like. In such a case, the tangential force F is generated due to the deceleration, as shown in Figure 3. t A tangential force F acts on the mounted object 2. t Rotational force F linked to p1 This acts on the first guide section 10 of the acceleration reduction device 1, generating a rotational moment due to its own weight in the acceleration reduction system S.

[0041] As shown in Figure 4, the tangential force F t Rotational force F linked to p1 When the first guide section 10 is acted upon, the first guide section 10 begins a pendulum motion toward the front of the vehicle V. The base drive unit 7, in accordance with the control of the attitude control device 8, applies the rotational force F as shown in Figure 5. p1 The first guide section 10 is made to perform a pendulum motion in accordance with the start timing of the pendulum motion of the first guide section 10 caused by the above, thereby controlling the target angle of the base section 20 in the front-to-back direction and the target angle of the base section in the left-to-right direction.

[0042] Figure 6 is a diagram illustrating an example of the operation of the acceleration reduction system S according to the first embodiment during acceleration. As shown in Figure 6, by eccentricating the center of gravity position G2 of the acceleration reduction system S toward the front of the vehicle from the reference line L, a rotational force F directed toward the rear of the vehicle V is reduced. p2 This can be generated in the first guide section 10. Therefore, during acceleration, it is possible to create a state in which a rotational moment due to the weight of the acceleration reduction system S is more likely to be generated compared to when the center of gravity position G1 of the acceleration reduction system S is on the reference line L.

[0043] Furthermore, by offsetting the center of gravity of the acceleration reduction system S from the reference line L in the left-right direction of the vehicle, it is possible to create a condition during acceleration in which a rotational moment in the left-right direction due to the weight of the acceleration reduction system S is more likely to occur compared to when the center of gravity of the acceleration reduction system S is on the reference line L.

[0044] Figure 7 is a diagram illustrating an example of the effects of the acceleration reduction system S according to the first embodiment. In Figure 7, the vertical axis represents acceleration and the horizontal axis represents time.

[0045] In the acceleration reduction system S, the angle of the pendulum motion of the base section 20 (or the first guide section 10) is controlled in accordance with the acceleration in order to reduce the effects of acceleration and deceleration on the mounted object 2. In this control, as shown in Figure 7, a time difference occurs between the start of the control instruction for the base section 20 using the target angle and the start of the actual angle control of the base section 20 (the start of driving by the longitudinal pendulum drive section 73 and the lateral pendulum drive section 74). One of the factors causing this time difference is the large moment of inertia of the acceleration reduction system S.

[0046] In the acceleration reduction system S according to the first embodiment, the center of gravity is offset from the reference line L, which is a vertical line from the virtual rotation center O of the pendulum motion. This creates a state in which a rotational moment due to the acceleration reduction system S is more likely to occur during acceleration compared to when the center of gravity of the acceleration reduction system S is on the reference line L. Therefore, in the acceleration reduction system S, the pendulum motion of the base portion 20 can be generated using the rotational moment due to its own weight and the rotational force from the drive motor 72.

[0047] Therefore, compared to conventional acceleration reduction devices that use only the rotational force from the drive motor 72, a more responsive acceleration reduction technology can be realized. In addition, the power of the drive motor 72 required to initiate the pendulum motion can be reduced compared to cases where the rotational moment due to the weight of the acceleration reduction system S is not utilized.

[0048] As described above, the acceleration reduction system S according to the first embodiment is an acceleration reduction system implemented on a moving body, comprising a mounted object 2 and an acceleration reduction device 1 that mounts the mounted object 2 and reduces the force on the mounted object 2 generated based on the acceleration and deceleration of the moving body, a vehicle V, by utilizing the pendulum motion of the mounted object. The center of gravity of the acceleration reduction system S is eccentric with respect to a reference line extended vertically from the center of rotation of the pendulum motion.

[0049] Therefore, the acceleration reduction system S, by offsetting the center of gravity from the reference line L, which is the vertical line from the virtual rotation center O of the pendulum motion, can create a state in which a rotational moment due to its own weight is more easily generated in the acceleration reduction system S during acceleration compared to when the center of gravity of the acceleration reduction system S is on the reference line L. As a result, the acceleration reduction system S can generate the pendulum motion of the base 20 using the rotational moment due to its own weight and the rotational force from the drive motor 72. As a result, the motor power required to start the pendulum motion and the delay in motion can be reduced compared to conventional acceleration reduction devices.

[0050] Furthermore, the center of gravity of the acceleration reduction system S is eccentric with respect to the reference line L in at least one direction: the longitudinal direction and the lateral direction of the vehicle V.

[0051] Therefore, according to the acceleration reduction system S, a pendulum motion of the base portion 20 can be generated in at least one of the longitudinal and lateral directions of the vehicle V, using the rotational moment due to its own weight and the rotational force from the drive motor 72.

[0052] Furthermore, the object to be mounted 2 is a seat that includes at least a base portion 20.

[0053] Therefore, according to the acceleration reduction system S, in the passenger seat, rear seat, etc. of the vehicle V, a pendulum motion of the base portion 20 can be generated using the rotational moment due to its own weight and the rotational force from the drive motor 72.

[0054] (Second Embodiment) Next, the acceleration reduction system S according to the second embodiment will be described. In the acceleration reduction system S according to the first embodiment, the center of gravity is fixedly positioned at a position eccentric to the vertical line of the virtual rotation center of the pendulum motion. In contrast, the acceleration reduction system S according to the second embodiment dynamically positions the center of gravity at a position eccentric to the vertical line of the virtual rotation center of the pendulum motion, and at a position calculated according to the acceleration of the vehicle V, etc. In the following, only the configurations that differ from the acceleration reduction system S according to the first embodiment will be described.

[0055] In Figure 2, the calculation unit 81 of the attitude control device 8 calculates the target center of gravity position for moving the center of gravity of the acceleration reduction system S, and the weight placement position corresponding to the target center of gravity position, based on at least control parameters including the acceleration of the vehicle V and the weight of the acceleration reduction system S. Here, the weight placement position (corresponding to the target center of gravity position) refers to the placement position of the movable weights of the longitudinal pendulum drive unit 73 and the lateral pendulum drive unit 74 in order to position the center of gravity of the acceleration reduction system S at the desired target center of gravity position. The weight placement position can be calculated independently for the longitudinal and lateral directions. The calculation unit 81 outputs the calculated weight placement position information to the output control unit 82.

[0056] The output control unit 82 outputs information regarding the weight placement position obtained from the calculation unit 81 to the forward / backward pendulum drive unit 73 and the left / right pendulum drive unit 74.

[0057] The longitudinal pendulum drive unit 73 includes a first weight and a mechanism for moving the first weight. The longitudinal pendulum drive unit 73 controls the position of the first weight based on information regarding the weight placement position obtained from the output control unit 82.

[0058] The left-right pendulum drive unit 74 includes a second weight and a mechanism for moving the second weight. The left-right pendulum drive unit 74 controls the position of the second weight based on information regarding the weight placement position obtained from the output control unit 82. The front-rear pendulum drive unit 73 and the left-right pendulum drive unit 74 are examples of center of gravity control units.

[0059] Figure 8 is a flowchart showing an example of the operation flow of the acceleration reduction system S according to the second embodiment. The process shown in Figure 8 is executed repeatedly at a predetermined cycle.

[0060] As shown in Figure 8, the calculation unit 81 acquires acceleration from the acceleration sensor 6 (step S1).

[0061] The calculation unit 81 determines whether the acquired acceleration is above a threshold (step S2). If the calculation unit 81 determines that the acquired acceleration is not above a threshold (step S2; No), it returns to step S1 and repeats the acquisition of acceleration. On the other hand, if the calculation unit 81 determines that the acquired acceleration is above a threshold (step S2; Yes), it proceeds to step S3.

[0062] The calculation unit 81 calculates the target center of gravity position for moving the center of gravity of the acceleration reduction system S and the weight placement position corresponding to the target center of gravity position, based on control parameters that include at least the acquired acceleration and the weight of the acceleration reduction system S (step S3). The calculation unit 81 outputs the calculated weight placement position information to the output control unit 82. The output control unit 82 outputs the weight placement position information acquired from the calculation unit 81 to the longitudinal pendulum drive unit 73 and the lateral pendulum drive unit 74.

[0063] The longitudinal pendulum drive unit 73 controls the position of the first weight based on information regarding the weight placement position obtained from the output control unit 82. Similarly, the lateral pendulum drive unit 74 controls the position of the second weight based on information regarding the weight placement position obtained from the output control unit 82 (step S4). By positioning the first and second weights at their respective weight placement positions, the center of gravity of the acceleration reduction system S can be moved to the target center of gravity position.

[0064] The acceleration reduction system S, whose center of gravity has moved to the target center of gravity position, performs the operation described in the first embodiment in response to the acceleration and deceleration of the vehicle V.

[0065] As described above, in the acceleration reduction system S according to the second embodiment, the calculation unit 81 calculates the position to which the center of gravity of the acceleration reduction system will be moved, based on at least the acceleration of the moving vehicle V and the weight of the acceleration reduction system S. The longitudinal pendulum drive unit 73 and the lateral pendulum drive unit 74, which act as control units, can dynamically move the center of gravity of the acceleration reduction system S by arranging the first weight and the second weight at weight placement positions corresponding to the target center of gravity position.

[0066] Therefore, according to the acceleration reduction system S of the second embodiment, it is possible to create a state in which a rotational moment due to the vehicle's own weight is easily generated in any direction in response to the acceleration and deceleration of the vehicle V. As a result, the motor power required to initiate the pendulum motion and the delay in motion can be reduced with a higher degree of freedom.

[0067] (modified version) In the above embodiments, the case where the center of gravity of the acceleration reduction system S is located on the side of the object being carried 2 was used as an example. However, if, for example, the object being carried 2 is significantly lighter than the acceleration reduction device 1, the center of gravity of the acceleration reduction system S may be located on the acceleration reduction device 1.

[0068] The program that causes a computer to execute the calculation and control functions of the acceleration reduction system described above can be provided as an installable or executable file recorded on a computer-readable recording medium such as a CD (Compact Disc)-ROM, flexible disk (FD), CD-R (Recordable), or DVD (Digital Versatile Disk). Furthermore, the program may be provided or distributed via a network such as the Internet.

[0069] Although embodiments of the present invention have been described above, the embodiments and their modifications described herein are merely examples and are not intended to limit the scope of the invention. The novel embodiments and modifications described herein can be implemented in various forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. The embodiments and modifications described herein are included in the scope and spirit of the invention, as well as in the claims of the invention and its equivalents.

[0070] [Summary of this embodiment] This embodiment comprises at least the following configurations.

[0071] The acceleration reduction system (S) according to this embodiment is an acceleration reduction system to be mounted on a moving body, comprising a mounted object (2) and an acceleration reduction device (1) that mounts the mounted object (2) and reduces the force on the mounted object (2) generated based on the acceleration and deceleration of the moving body by utilizing the pendulum motion of the mounted object (2), wherein the center of gravity of the acceleration reduction system (S) is eccentric with respect to a reference line extended vertically from the center of rotation of the pendulum motion.

[0072] According to the acceleration reduction system (S), by offsetting the center of gravity from the reference line L, which is a vertical line from the virtual center of rotation (O) of the pendulum motion, it is possible to create a state in which a rotational moment due to the acceleration reduction system S is more likely to occur during acceleration compared to when the center of gravity of the acceleration reduction system S is on the reference line L. Therefore, in the acceleration reduction system (S), the pendulum motion of the base (20) can be generated using the rotational moment due to its own weight and the rotational force from the drive motor (72). As a result, the motor power required to start the pendulum motion and the delay in motion can be reduced compared to conventional acceleration reduction devices.

[0073] The center of gravity of the acceleration reduction system (S) according to the embodiment is eccentric with respect to the reference line in at least one direction in the front-rear direction and the left-right direction of the moving body.

[0074] Therefore, according to the acceleration reduction system (S), a pendulum motion of the base portion 20 can be generated in at least one of the forward / backward direction and the left / right direction of the moving body, using the rotational moment due to its own weight and the rotational force from the drive motor (72).

[0075] The acceleration reduction system (S) according to the embodiment further comprises a calculation unit that calculates a position to move the center of gravity of the acceleration reduction system based on at least the acceleration of the moving body and the weight of the acceleration reduction system, and a control unit that moves the center of gravity of the acceleration reduction system to the calculated position.

[0076] Therefore, the acceleration reduction system (S) makes it possible to create a state in which a rotational moment due to the vehicle's own weight is easily generated in any direction in response to the acceleration and deceleration of the vehicle V. As a result, it is possible to reduce the motor power required to initiate the pendulum motion and the delay in motion with a higher degree of freedom.

[0077] Furthermore, the object 2 mounted on the acceleration reduction system (S) according to the embodiment is a sheet that includes at least a base portion (20).

[0078] Therefore, according to the acceleration reduction system (S), in the passenger seat, rear seat, etc., of the vehicle (V) as a moving object, a pendulum motion of the base (20) can be generated using the rotational moment due to its own weight and the rotational force from the drive motor (72).

[0079] Although embodiments of the present invention have been illustrated above, these embodiments and modifications are merely examples and are not intended to limit the scope of the invention. The above embodiments and modifications can be implemented in various other forms, and various omissions, substitutions, combinations, and changes can be made without departing from the spirit of the invention. Furthermore, the configurations and shapes of each embodiment and modification can be partially replaced. [Explanation of Symbols]

[0080] 1...Acceleration reduction device, 2...Loaded object (seat), 3...Powertrain control system, 4...Vehicle speed sensor, 5...Steering sensor, 6...Acceleration sensor, 7...Base drive unit, 8...Attitude control device, 10...First guide unit, 20...Base unit, 22...Back unit, 24...Headrest unit, 31...Vehicle weight (weight of moving body), 32...Braking drive force, 33...Road surface friction sensor, 71...Position sensor, 72...Drive motor, 73...Forward / backward pendulum drive unit (center of gravity control unit), 74...Left / right pendulum drive unit (center of gravity control unit), 81...Calculation unit, 82...Output control unit, S...Acceleration reduction system, O...Center of rotation, G1, G2...Center of gravity

Claims

1. An acceleration reduction system implemented in a moving object, The load and, An acceleration reduction device that mounts the object to be mounted and reduces the force on the object generated based on the acceleration and deceleration of the moving body by utilizing the pendulum motion of the object, Equipped with, The center of gravity of the acceleration reduction system is eccentric with respect to a reference line extended vertically from the center of rotation of the pendulum motion. Acceleration reduction system.

2. The center of gravity of the acceleration reduction system is eccentric with respect to the reference line in at least one direction, either in the longitudinal direction or the lateral direction of the moving body. The acceleration reduction system according to claim 1.

3. A calculation unit that calculates the position to move the center of gravity of the acceleration reduction system based on at least the acceleration of the moving body and the weight of the acceleration reduction system, A center of gravity control unit that moves the center of gravity of the acceleration reduction system to the calculated position, Furthermore, The acceleration reduction system according to claim 1 or 2.

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