Oscillating device and control method

Abstract

To realize a rocking device capable of fully relaxing shock of a change in acceleration when rocking a seating sheet or the like.SOLUTION: A rocking device (1) includes: a seating sheet (3) for supporting a user's body; a motor (5) for supplying power for rocking the seating sheet (3) via a gear mounted to a rotating shaft by rotating the rotating shaft in a first rotary direction, and a second rotary direction opposite to the first rotary direction; and a controller (7) for controlling rocking of the seating sheet (3) via the motor (5). The seating sheet (3) executes first operation for traveling in a first traveling direction in linking with rotation of the rotating shaft in the first rotary direction, and executes second operation for traveling in a second traveling direction in linking with rotation of the rotating shaft in the second rotary direction, and the controller (7) controls rocking of the seating sheet (3) by providing a predetermined stop period between the first operation and the second operation.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a rocking device and a control method. [Background technology]

[0002] Rocking devices that rock a seat or the like at a constant rate to relax the user and help induce sleep are known in the prior art. Patent Document 1 discloses an amplitude rocking control device that provides an appropriate rocking amplitude to the seat. Patent Document 2 discloses an automatic rocking device that smooths the rocking of a rocking platform to provide a more comfortable experience for infants. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2002-345606 [Patent Document 2] Japanese Patent Application Publication No. 8-89377 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the above-described conventional technology has a problem in that the acceleration changes rapidly during the swing, and the change in acceleration can give a shock to the user.

[0005] One aspect of the present disclosure has been made in consideration of the above-mentioned problems, and aims to realize a rocking device that can mitigate the impact of acceleration changes when rocking a seat or the like. [Means for solving the problem]

[0006] In order to solve the above problem, a rocking device according to a first aspect of the present disclosure comprises a support member that supports a user's body, a motor that supplies power to rock the support member via a gear attached to a rotating shaft by rotating the rotating shaft in a first rotation direction and a second rotation direction that is opposite to the first rotation direction, and a controller that controls the rocking of the support member via the motor, wherein the support member performs a first action of moving in a first movement direction in conjunction with the rotation of the rotating shaft in the first rotation direction, and performs a second action of moving in a second movement direction in conjunction with the rotation of the rotating shaft in the second rotation direction, and the controller controls the rocking of the support member by providing a predetermined stop period between the first action and the second action.

[0007] According to the above configuration, the seat or other supporting member temporarily stops when it folds back in the opposite direction during rocking, thereby realizing a rocking device that can absorb the impact of changes in acceleration when rocking the seat or other supporting member.

[0008] In the oscillating device according to aspect 2 of the present disclosure, in the above aspect 1, when the controller causes the support member to start the first or second movement, it monotonically increases the speed of the movement until the speed of the movement reaches a predetermined speed, and when the controller causes the support member to end the first or second movement, it monotonically decreases the speed of the movement until the speed of the movement reaches zero.

[0009] According to the above configuration, when the seat or the like is swung, the impact of the change in acceleration can be further alleviated.

[0010] In the oscillating device according to aspect 3 of the present disclosure, in the above-mentioned aspect 1 or 2, when the support member is oscillating, the angle with respect to the floor surface on which the oscillating device is provided is constant, and the first movement direction and the second movement direction are the forward and backward directions of the support member.

[0011] According to the above configuration, for example, the support member can be swung without tilting.

[0012] A fourth aspect of the present disclosure relates to the rocking device of the first or second aspect, wherein the support member moves in an up-and-down direction with respect to the floor surface as the first movement direction and the second movement direction.

[0013] The above configuration contributes to reducing the planar space required for providing the rocking device.

[0014] A rocking device according to aspect 5 of the present disclosure is the same as that according to aspect 1 or 2 above, in which the support member is a seat having a seat surface and a back surface, and rocks using a reclining function that changes the angle between the seat surface and the back surface.

[0015] According to the above configuration, for example, it is possible to reduce the power consumption of the rocking device and realize rocking with a relatively simple configuration.

[0016] The rocking device according to a sixth aspect of the present disclosure is the device according to the first or second aspect provided on the moving body.

[0017] The above configuration contributes to encouraging a user to sleep comfortably in a seat of a vehicle, for example.

[0018] The rocking device according to a seventh aspect of the present disclosure is the device according to the sixth aspect, which is provided in an autonomous vehicle.

[0019] The above configuration contributes to encouraging comfortable sleep for all users, for example, in seats of an autonomously driven vehicle.

[0020] In the rocking device according to aspect 8 of the present disclosure, in aspect 2 above, the controller monotonically increases the speed of the first movement or the second movement, and when the speed of the movement reaches the predetermined speed, continues the movement at the predetermined speed for a predetermined period of time.

[0021] The above configuration contributes to reducing the change in acceleration felt by the user in the rocking device.

[0022] A control method according to aspect 9 of the present disclosure is a control method for controlling the oscillation of the support member via the motor in an oscillating device comprising: a support member that supports a user's body; and a motor that supplies power to oscillate the support member via a gear attached to the rotating shaft by rotating the rotating shaft in a first rotation direction and a second rotation direction opposite to the first rotation direction, wherein the support member performs a first action of moving in a first movement direction in conjunction with the rotation of the rotating shaft in the first rotation direction, and a second action of moving in a second movement direction in conjunction with the rotation of the rotating shaft in the second rotation direction, wherein the control method controls the oscillation of the support member via the motor by providing a predetermined stop period between the first action and the second action.

[0023] According to the above configuration, the same effects as those of the rocking device according to the first aspect are achieved.

[0024] The controller of the oscillating device according to each aspect of the present disclosure may be realized by a computer, in which case the control program that causes the computer to operate as the controller (software element) to realize the controller on the computer, and the computer-readable recording medium on which it is recorded, also fall within the scope of the present disclosure. [Effects of the Invention]

[0025] According to one aspect of the present disclosure, it is possible to realize a rocking device that can mitigate the impact of acceleration changes when rocking a seat or the like. [Brief explanation of the drawings]

[0026] [Figure 1] FIG. 2 is a diagram illustrating an example of the appearance of a rocking device. [Figure 2] FIG. 2 is a diagram illustrating an example of a frame of a seat. [Figure 3] 10A and 10B are diagrams illustrating an example of rocking of a seat in the pitching direction. [Figure 4]FIG. 4 is a diagram illustrating an example of a pinion gear and a sector gear. [Figure 5] 1 is an example of a drawing including a seat frame. [Figure 6] FIG. 10 is a diagram showing an example of the speed at which the controller rocks the seat. DETAILED DESCRIPTION OF THE INVENTION

[0027] An embodiment of the present disclosure will be described in detail below.

[0028] [1. Configuration example and processing example of the rocking device] 1 is a diagram showing an example of the appearance of a rocking device 1 according to the present disclosure. As shown in FIG. 1, the rocking device 1 includes components such as a seat 3, a motor 5, and a controller 7.

[0029] The seat 3 is a support member that supports the user's body. In the following, a seat will be described as an example of the support member, but the support member is not limited to this and may be realized as a bed, sofa, or other similar member on which the user can sit.

[0030] Furthermore, the rocking device 1, including the seat 3, is described as being provided in a moving body, but is not limited to this and may be provided in a stationary location such as a building. The moving body is described as a vehicle, but is not limited to this and may be a ship, an airplane, or the like. The rocking device 1 is not limited to being provided in a driver's seat, but may be provided in a passenger seat.

[0031] The seat 3 is fixed on a base 9 with a fulcrum 11 as an axis, and oscillates in a pitching direction 12 with the fulcrum 11 as an axis. Here, the oscillating of the seat 3 means that the seat 3 performs a reciprocating motion that alternates between a first movement and a second movement, which will be described later. The oscillating of the seat 3 has the effect of relaxing the seated user and stimulating the otoliths, which are involved in the user's sense of balance, to induce drowsiness. In the following description, the right side in the example of FIG. 1 will be referred to as the "front" of the seat 3, and the left side in the example of FIG. 1 will be referred to as the "rear" of the seat 3.

[0032] 2 is a diagram showing an example of the frame of the seat 3. The seat 3 has a seat surface 4 and a back surface 6, and a reclining function allows the angle 14 between the seat surface 4 and the back surface 6 to be adjusted.

[0033] 3A and 3B show an example of the rocking motion in the pitching direction. When rocking, the seat 3 alternately tilts backward as shown in side view 301 and forward as shown in side view 302. While not essential, it is desirable that the rocking motion be performed with the angle between the seat surface 4 and the back surface 6 fixed, as shown in FIG. 3A and 3B. As shown in each view of FIG. 3A, the back surface 6 of the seat 3 may be configured to include a seat back 61 and a headrest 62.

[0034] 1, a motor 5 and a plurality of gears including a sector gear 13 are provided on a base 9 fixed to a floor surface 10. The motor 5 rotates a rotation shaft in a first rotation direction and a second rotation direction opposite to the first rotation direction under the control of a controller 7, thereby supplying power for rocking the seat 3 via a pinion gear 20 attached to the rotation shaft. As an example, the first rotation direction may be defined as left rotation (counterclockwise rotation) and the second rotation direction may be defined as right rotation (clockwise rotation), or vice versa.

[0035] 4 is a diagram showing an example of a pinion gear and a sector gear having a shape different from the configuration shown in FIG. 1. In FIG. 4, a pinion gear 22 is provided on the rotary shaft of the motor 5, and the power of the pinion gear 22 is transmitted to a sector gear 24. In one embodiment, the sector gear 24 is fixed to a plate 16 for indirectly applying a force to the lower part of the seat 3. Alternatively, the sector gear 24 is integrated with the plate 16. Note that a configuration in which one or more other gears are provided between the pinion gear 22 and the sector gear 24 may also be used.

[0036] In the example of FIG. 1 , a force is applied to the bottom of the seat 3 via the first plate 15 to which the sector gear 13 is fixed, the second plate 17, and the bracket 18. The angle between the first plate 15 and the second plate 17 and the angle between the second plate 17 and the bracket 18 are variable. The first plate 15 rotates within a certain range around a fulcrum 19. In other words, when the front of the first plate 15 is positioned upward, the rear is positioned downward, and when the rear of the first plate 15 is positioned upward, the front is positioned downward. As the sector gear 13 rotates left and right, the front of the first plate 15 moves up and down, and the seat 3 repeats reciprocating motion around the fulcrum 19.

[0037] The fact that a force is applied in the vertical direction below the seat 3 indicates that the rocking device 1 has a rack and pinion mechanism that converts the rotational motion of the pinion gear 20 provided on the motor 5 into linear motion that moves the front of the seat 3 up and down.

[0038] The seat 3 performs a first movement in a first movement direction in response to the rotation of the rotary shaft of the motor 5 in the first rotation direction. The seat 3 also performs a second movement in a second movement direction in response to the rotation of the rotary shaft of the motor 5 in the second rotation direction. Here, the movement involves only a change in the angle of the seat 3 relative to the floor surface 10 on which the rocking device 1 is provided. The directions of the arrows in the pitching direction 12 in FIG. 1 are examples of the first movement direction and the second movement direction.

[0039] When the rotary shaft of the motor 5 rotates in the first rotation direction, the sector gear 13 rotates in the opposite direction to when the rotary shaft of the motor 5 rotates in the second rotation direction. For example, in FIG. 1, when the rotary shaft of the motor 5 rotates in the first rotation direction and the sector gear 13 rotates left (counterclockwise), the front of the first plate 15 is lifted upward and the seat 3 tilts backward. In this case, the movement of the seat 3 tilting backward is an example of a first movement in which the seat 3 moves in the first movement direction.

[0040] Furthermore, when the rotary shaft of the motor 5 rotates in the second rotation direction and the sector gear 13 rotates to the right (clockwise), the front of the first plate 15 is pushed downward, causing the seat 3 to tilt forward. In this case, the action of the seat 3 tilting forward is an example of a second action in which the seat 3 moves in the second movement direction.

[0041] FIG. 5 is an example of a drawing including a frame of the seat 3. FIG. 5 shows an example in which a gear having a different shape from the configuration shown in FIG. 1 is connected to the seat 3. In the example of FIG. 5, the sector gear is integrated with the first plate 21. Furthermore, the gear portion of the pinion gear is meshed with the gear portion of the first plate 21. The first plate 21 is provided with a hole 31 through which a fixed shaft 29 passes. The position of the fixed shaft 29 is fixed, and the first plate 21 rotates around a fulcrum 33 within a range in which the fixed shaft 29 can move relatively within the hole 31. As a result, the front of the first plate 21 moves up and down, causing the seat 3 to oscillate.

[0042] 5, a third plate 25 and a fourth plate 27 may be provided at positions facing the first plate 21 and the second plate 23, respectively, in the left-right direction of the seat 3. This can improve the strength of the rocking device 1. Although not an essential configuration, the third plate 25 may also have a shape integrated with the sector gear, and may transmit power supplied from the motor 5 to the bottom of the seat 3 via the fourth plate 27.

[0043] FIG. 6 is a diagram showing an example of the speed at which the controller 7 rocks the seat 3. In the graph of FIG. 6, the horizontal axis represents time (seconds), and the vertical axis represents the rocking speed. A positive value on the vertical axis represents the speed of a first movement, and a negative value represents the speed of a second movement. In addition, a value of "100" on the vertical axis represents the speed corresponding to the maximum rotation speed when the rotary shaft of the motor 5 rotates in the first rotation direction, and a value of "-100" represents the speed corresponding to the maximum rotation speed when the rotary shaft of the motor 5 rotates in the second rotation direction. In addition, a value of "0" on the horizontal axis represents a certain point in time during the rocking of the seat 3.

[0044] In the example of Fig. 6, the controller 7 moves the seat 3 in a first movement direction while monotonically increasing the speed from 0 to 2 seconds, and then moves the seat 3 in the first movement direction at a predetermined speed from 2 to 4 seconds. As shown in Fig. 6, the portion of the graph corresponding to 0 to 2 seconds forms a smooth curve (sine wave), as do other portions where the speed changes.

[0045] In this way, when the controller 7 causes the seat 3 to start the first motion, it monotonically increases the speed of the first motion until the speed of the first motion reaches the predetermined speed, and when the speed of the first motion reaches the predetermined speed, it continues the first motion at the predetermined speed for a predetermined period. In the example of Fig. 6, the predetermined period is 2 seconds, but is not limited to this and may be 1 second, or 3 seconds or more.

[0046] Furthermore, the controller 7 moves the seat 3 in the first movement direction while monotonically decreasing the speed for 4 to 6 seconds. That is, when the controller 7 causes the seat 3 to finish the first motion, the controller 7 monotonically decreases the speed of the first motion until the speed of the first motion reaches zero.

[0047] In this way, the controller 7 rotates the rotary shaft of the motor 5 in the first rotation direction for 0 to 6 seconds, and controls the seat 3 to perform the first operation as described above. Note that the above description may be applied by replacing the "speed of the first operation" with "rotation speed of the rotary shaft of the motor 5 in the first rotation direction."

[0048] The controller 7 also stops the seat 3 for 6 to 8 seconds. During the 6 to 8 seconds, the seat 3 is positioned at one end of the swinging range.

[0049] Next, the controller 7 moves the seat 3 in the second movement direction while monotonically increasing the speed for 8 to 10 seconds, and moves the seat 3 in the second movement direction at a predetermined speed for 10 to 12 seconds.

[0050] In this way, when the controller 7 causes the seat 3 to start the second action, it monotonically increases the speed of the second action until the speed of the second action reaches a predetermined speed, and when the speed of the second action reaches the predetermined speed, it continues the second action at the predetermined speed for a predetermined period of time.

[0051] Furthermore, the controller 7 moves the seat 3 in the first movement direction while monotonically decreasing the speed for 12 to 14 seconds. That is, when the controller 7 causes the seat 3 to finish the second motion, the controller 7 monotonically decreases the speed of the second motion until the speed of the second motion reaches zero.

[0052] In this way, the controller 7 rotates the rotary shaft of the motor 5 in the second rotation direction for 8 to 14 seconds, and controls the seat 3 to perform the second operation as described above. Note that the above description may be applied by replacing the "speed of the second operation" with "the rotation speed of the rotary shaft of the motor 5 in the second rotation direction."

[0053] The controller 7 also stops the seat 3 between 14 and 16 seconds. Between 14 and 16 seconds, the seat 3 is positioned at one end of the swinging range, opposite the end positioned between 6 and 8 seconds. After 16 seconds, the controller 7 repeats the same swinging motion as between 0 and 16 seconds.

[0054] As described above, the controller 7 is configured to execute a control method for controlling the rocking of the seat 3 by providing a predetermined pause period between the first and second operations. According to the above configuration, the seat 3 temporarily stops when it turns back in the opposite direction during rocking. This makes it possible to realize a rocking device 1 that can sufficiently mitigate the impact of acceleration changes when rocking the seat 3. In addition, the configuration that provides a pause period during rocking can prevent the motor 5 from overheating.

[0055] The predetermined stop period is not limited to a specific period, and may be about 1 to 5 seconds, or more preferably about 2 to 3 seconds. In the example of Fig. 6, the stop period is 2 seconds. Furthermore, a period in which the output torque of the motor 5 is zero may be considered to be included in the stop period, even if the seat 3 moves slightly due to inertia.

[0056] [2. Modifications] The rocking of the seat 3, i.e., the first and second movements, are not limited to a configuration in which only the angle of the seat 3 with respect to the floor surface 10 on which the rocking device 1 is provided changes. For example, the seat 3 may be configured to move in the front-to-rear direction of the seat 3 as the first and second movement directions while maintaining a constant angle with respect to the floor surface 10 during rocking. Alternatively, the seat 3 may be configured to move in the up-and-down direction with respect to the floor surface 10 as the first and second movement directions.

[0057] The seat 3 may also be configured to oscillate by a reclining function that changes the angle between the seat surface 4 and the back surface 6. In one embodiment, the seat surface 4 may be fixed, and only the angle of the back surface 6 relative to the seat surface 4 may repeatedly increase and decrease within a certain range. Furthermore, when the back surface 6 of the seat 3 includes a seat back 61 and a headrest 62 as described above with reference to FIG. 3, the seat 3 may also be configured to oscillate by changing the angle of the headrest 62 relative to the seat back 61.

[0058] The seat 3 may also be configured to rock by a combination of multiple movements. For example, the seat 3 may be configured to rock by a combination of multiple movements selected from rocking that changes the angle with respect to the floor 10, rocking that moves forward and backward, rocking that moves up and down, rocking due to a reclining function, and rocking that changes the angle of the headrest 62.

[0059] Furthermore, the rocking of the seat surface 4 and the rocking of the back surface 6 of the seat 3 may be achieved by separate motors 5 and gears. In other words, the mechanism for rocking the seat surface 4 and the mechanism for rocking the back surface 6 may be configured independently of each other. The same applies to a configuration in which the angle between the seat surface 4 and the back surface 6 remains constant while the seat rocks.

[0060] Furthermore, the seat 3 does not necessarily have to have the back surface 6, and the seat 3 having only the seat surface 4 may be configured to oscillate.

[0061] Furthermore, when multiple seats 3 are provided in the same moving body, or when multiple seats 3 are provided close to each other, a single controller 7 may be configured to control the rocking of each of the multiple seats 3, or the same number of controllers 7 as the number of seats 3 may be prepared, and each seat 3 and each controller 7 may be in one-to-one correspondence, with each controller 7 controlling the rocking of the corresponding seat 3.

[0062] The rocking device 1 may also be configured to be provided in an autonomous vehicle. The above configuration contributes to encouraging all users to sleep comfortably in the seat 3 of the autonomous vehicle, for example.

[0063] [3. Software implementation example] The functions of the controller 7 (hereinafter referred to as "device") can be realized by a program that causes a computer to function as the device, and a program that causes a computer to function as each control block of the device.

[0064] In this case, the device includes a computer having at least one control device (e.g., a processor) and at least one storage device (e.g., a memory) as hardware for executing the program. The control device and storage device execute the program, thereby realizing the functions described in each of the above embodiments.

[0065] The program may be non-transitory and may be recorded on one or more computer-readable recording media. The recording media may or may not be included in the device. In the latter case, the program may be supplied to the device via any wired or wireless transmission medium.

[0066] In addition, some or all of the functions of each of the control blocks can be realized by logic circuits. For example, integrated circuits in which logic circuits that function as each of the control blocks are formed are also included in the scope of the present disclosure. In addition, the functions of each of the control blocks can also be realized by, for example, a quantum computer.

[0067] The present disclosure is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present disclosure. [Explanation of symbols]

[0068] 1. Oscillating device 3 seats 5 motors 7 Controller 13, 24 sector gear 20, 22 Pinion gear

Claims

1. a support member that supports the user's body; a motor that supplies power for swinging the support member via a gear attached to the rotary shaft by rotating the rotary shaft in a first rotation direction and a second rotation direction opposite to the first rotation direction; a controller that controls the swing of the support member via the motor, The support member is a first action of moving in a first movement direction in conjunction with the rotation of the rotation shaft in a first rotation direction; a second action of moving in a second movement direction in conjunction with the rotation of the rotation shaft in the second rotation direction; The controller providing a predetermined stop period between the first operation and the second operation to control the swing of the support member; When the support member is caused to start the first operation or the second operation, the speed of the oscillation of the support member is increased so as to smoothly change during a period until the speed of the operation reaches a predetermined speed; an oscillation device that, when causing the support member to end the first operation or the second operation, reduces the oscillation speed of the support member so as to change smoothly during a period until the speed of the operation reaches zero.

2. The support member is When the device is oscillating, the angle with respect to the floor on which the device is installed is constant, The rocking device according to claim 1 , wherein the first movement direction and the second movement direction are movement in a front-rear direction of the support member.

3. The support member is The rocking device according to claim 1 , wherein the first movement direction and the second movement direction are vertical directions with respect to a floor surface on which the rocking device is provided.

4. The support member is A seat having a seat surface and a back surface, 3. The rocking device according to claim 1, wherein the rocking is performed by a reclining function that changes the angle between the seat surface and the back surface.

5. 3. The rocking device according to claim 1, wherein the rocking device is provided on a moving body.

6. The rocking device according to claim 5, wherein the rocking device is provided in an autonomous vehicle.

7. The controller 2. The rocking device according to claim 1, wherein the speed of the first movement or the second movement is increased in a smoothly changing manner, and when the speed of the movement reaches the predetermined speed, the movement is continued at the predetermined speed for a predetermined period of time.

8. a support member that supports the user's body; a motor that supplies power for swinging the support member via a gear attached to the rotary shaft by rotating the rotary shaft in a first rotation direction and a second rotation direction opposite to the first rotation direction; Equipped with The support member is a first action of moving in a first movement direction in conjunction with the rotation of the rotation shaft in a first rotation direction; A control method for controlling the swing of the support member via the motor in a swing device that performs a second operation of moving in a second movement direction in conjunction with rotation of the rotation shaft in a second rotation direction, the method comprising: providing a predetermined stop period between the first operation and the second operation to control the swing of the support member; When the support member is caused to start the first operation or the second operation, the speed of the oscillation of the support member is increased so as to smoothly change during a period until the speed of the operation reaches a predetermined speed; A control method comprising, when causing the support member to end the first operation or the second operation, smoothly reducing the oscillation speed of the support member during a period until the speed of the operation reaches zero.

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