JP5861622B2 - Coaxial two-wheel moving body and control method thereof - Google Patents

Description

  The present invention relates to a coaxial two-wheel moving body and a control method therefor, and more particularly to a technique for controlling a coaxial two-wheel moving body with a plurality of CPUs.

  Patent Documents 1 to 3 disclose vehicles controlled by multiplexed CPUs. For example, the personal transportation vehicle disclosed in Patent Document 1 controls two motors connected to each of two wheels by an A processor and a B processor that belong to redundant components of group A and group B, respectively.

  However, the timing of processing executed by each multiplexed CPU depends on the clock supplied to each CPU. Therefore, it is difficult for CPUs operating with different clocks to completely synchronize the processes executed by the respective CPUs due to the accuracy of the clock and the deviation of the clock supply start timing. In order to improve the stability of the coaxial two-wheel moving body, it is very important to execute the processing related to the control of the coaxial two-wheel moving body, which is executed by each of the plurality of CPUs, in synchronization.

US Patent Application Publication No. 2003/0146025 International Publication No. 2011/088966 JP 2009-187561 A

  The present invention has been made on the basis of the above-described knowledge, and is a coaxial two-wheel moving body capable of improving the accuracy of synchronization of processing related to the control of the coaxial two-wheel moving body executed by each of a plurality of CPUs. An object is to provide a control method thereof.

  The coaxial two-wheel moving body according to the first aspect of the present invention is a coaxial two-wheel moving body that moves according to control, and includes a first clock generation unit that generates a first clock signal, and a second clock signal. A second clock generation unit that generates a first timer that measures time based on the first clock signal, a second timer that measures time based on the second clock signal, A first CPU that controls the coaxial two-wheel moving body based on a time measured by the first timer, and a second CPU that controls the coaxial two-wheel moving body based on the time measured by the second timer. And the first CPU detects the time of the first timer at the time of detection of the first predetermined event and the time of detection of the second predetermined event that occurs after the first predetermined event. And the time of the first timer in Time information is transmitted to the second CPU, and the second CPU detects the first predetermined event from the time of detection of the first predetermined event obtained from the time information transmitted from the first CPU. Based on the ratio of the elapsed time in the first timer until the time of detection of the first timer and the elapsed time in the second timer from the time of detection of the first predetermined event to the time of detection of the second predetermined event The time measured by the second timer is corrected to the time when measured by the first timer.

  The control method according to the second aspect of the present invention includes a first CPU that operates based on a time measured by a first timer by a first clock signal, and a second timer that measures by a second clock signal. A control method for controlling the coaxial two-wheeled vehicle by a second CPU that operates based on a time for the first timer to detect the first predetermined time when the first CPU detects a first predetermined event; Transmitting to the second CPU time information regarding the time of the first timer at the time of detection of a second predetermined event that occurs after the first predetermined event; and the second CPU, The elapsed time in the first timer from the time of detection of the first predetermined event to the time of detection of the second predetermined event obtained from the time information transmitted from the first CPU, and the first predetermined Event detection The time measured by the second timer based on the ratio with the elapsed time in the second timer from the time until the detection of the second predetermined event to the time when the first timer measures the time And a step of correcting.

  According to each aspect of the present invention described above, a coaxial two-wheel moving body that can be improved in synchronization accuracy of processing related to the control of the coaxial two-wheel moving body, which is executed by each of a plurality of CPUs, and a control method therefor are provided. be able to.

1 is a diagram showing a schematic configuration of an inverted motorcycle according to an embodiment. It is a block diagram which shows the structure of the control apparatus which concerns on embodiment. It is a figure which shows the detailed structure of the microcomputer which concerns on embodiment. It is a figure for demonstrating the shift | offset | difference of a clock signal. It is a figure for demonstrating the outline | summary of the time synchronization method which concerns on embodiment. It is a flowchart which shows the time synchronization process of the inverted motorcycle which concerns on embodiment. It is a figure for demonstrating the detail of the time synchronization method which concerns on embodiment. It is a figure for demonstrating the effect of embodiment. It is a figure for demonstrating the effect of embodiment. It is a figure for demonstrating the problem in inclination correction. It is a figure which shows the fine adjustment of the inclination correction which concerns on embodiment.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. Specific numerical values and the like shown in the following embodiments are merely examples for facilitating understanding of the invention, and are not limited thereto unless otherwise specified. In the following description and drawings, matters obvious to those skilled in the art are omitted or simplified as appropriate for the sake of clarity.

<Embodiment of the Invention>
A schematic configuration of an inverted motorcycle 1 according to an embodiment will be described with reference to FIG. FIG. 1 is a diagram illustrating a schematic configuration of an inverted motorcycle 1 according to an embodiment.

  The inverted motorcycle 1 is configured such that a passenger (user) who holds the handle 4 and rides on the step cover 3 applies a load in the front-rear direction of the inverted motorcycle 1 and the posture angle of the inverted motorcycle 1 in the front-rear direction ( The pitch angle is detected using a sensor, and the motors that drive the left and right wheels 2 are controlled so as to maintain the inverted state of the inverted motorcycle 1 based on the detection result. That is, the inverted motorcycle 1 accelerates forward so that the inverted motorcycle 1 maintains the inverted state when the passenger who has boarded the step cover 3 applies a load forward and tilts the inverted motorcycle 1 forward. When a person applies a load rearward to tilt the inverted motorcycle 1 backward, the motors that drive the left and right wheels 2 are controlled so as to accelerate backward so as to maintain the inverted motorcycle 1 in an inverted state. In the inverted two-wheeled vehicle 1, a control system for controlling the motor is duplicated in order to ensure control stability.

  Further, the inverted motorcycle 1 can be switched from the riding mode in which the above control is performed to the towing mode in order to facilitate the towing of the inverted motorcycle 1 by the user. The inverted motorcycle 1 is switched to the traction mode when the user presses a traction mode switching button (not shown) provided on the inverted motorcycle 1 after the traveling is stopped and the passenger gets off the vehicle. In the traction mode, the inverted motorcycle 1 accelerates forward when the user grips the handle 4 and tilts the inverted motorcycle 1 forward, and when the user grips the handle 4 and tilts the inverted motorcycle 1 backward, The motor which drives the left and right wheels 2 is controlled so as to accelerate backward. That is, the attitude angle (pitch angle) of the inverted two-wheeled vehicle 1 in the front-rear direction is detected using a sensor, and the motor for driving the left and right wheels 2 is controlled based on the detection result, as in the riding mode. It is.

  However, in the traction mode, if the inverted state is maintained too much, the user hardly pulls the inverted motorcycle 1. Therefore, the inverted motorcycle 1 drives the left and right wheels 2 so that the acceleration is lower when tilted to the same posture angle in the traction mode than when tilted to a certain posture angle in the riding mode. Control the motor.

  The control of these motors is performed by the control device 10 mounted on the inverted motorcycle 1.

  Then, with reference to FIG. 2, the structure of the control apparatus 10 concerning Embodiment is demonstrated. With reference to FIG. 2, it is a block diagram which shows the structure of the control apparatus 10 concerning Embodiment.

  The control device 10 includes microcontrollers 11 and 12 (hereinafter also referred to as “microcomputers”), inverters 13 to 16, motors 17 and 18, rotation angle sensors 19 to 22, gyro sensor sensors 23 and 24, a clock generation circuit 25, 26, and step switches (hereinafter also referred to as “step SW”) 27 and 28.

  The control device 10 is a dual system in which the control system is duplicated into a 0-system control system and a 1-system control system in order to ensure the stability of the control of the inverted motorcycle 1. The 0-system control system includes a microcomputer 11, inverters 13 and 14, rotation angle sensors 19 and 20, a gyro sensor 23, and a clock generation circuit 25. The 1-system control system includes a microcomputer 12, inverters 15 and 16, rotation angle sensors 21 and 22, a gyro sensor 24, and a clock generation circuit 26.

  Each of the microcomputers 11 and 12 is an ECU that controls the motors 17 and 18 to maintain the inverted state of the inverted motorcycle 1 as described above based on the angular velocity signals output from the gyro sensor sensors 23 and 24, respectively. (Electronic Control Unit). Each of the microcomputers 11 and 12 has a CPU (Central Processing Unit) and a storage unit, and executes processing as each of the microcomputers 11 and 12 in the present embodiment by executing a program stored in the storage unit. To do. That is, the program stored in the storage unit of each of the microcomputers 11 and 12 includes a code for causing the CPU to execute processing in each of the microcomputers 11 and 12 in the present embodiment. The storage unit includes, for example, an arbitrary storage device that can store the program and various types of information used for processing in the CPU. The storage device is, for example, a memory.

  The microcomputer 11 outputs a command value for controlling the motor 17 to the inverter 13. Further, the microcomputer 11 outputs a command value for controlling the motor 18 to the inverter 14. The microcomputer 12 outputs a command value for controlling the motor 17 to the inverter 15. Further, the microcomputer 12 outputs a command value for controlling the motor 18 to the inverter 16. Specifically, each of the microcomputers 11 and 12 integrates angular velocities (pitch angular velocities) around the pitch axis of the inverted motorcycle 1 indicated by the angular velocity signals output from the gyro sensors 23 and 24, respectively. A posture angle (pitch angle) in the front-rear direction is calculated, and a command value for controlling the motors 17 and 18 is generated so as to maintain the inverted state of the inverted motorcycle 1 based on the calculated posture angle.

  Here, the control device 10 detects the posture angle (pitch angle) in the front-rear direction of the inverted two-wheeled vehicle 1 instead of the gyro sensors 23 and 24, and sends posture angle signals indicating the detected posture angles to the microcomputers 11 and 12, respectively. You may make it have the attitude | position angle sensor to output. The posture angle sensor is configured to detect the posture angle of the inverted motorcycle 1 by, for example, an acceleration sensor and a gyro sensor. Each of the microcomputers 11 and 12 generates a command value for controlling the motors 17 and 18 so as to maintain the inverted state based on the posture angle indicated by the posture angle signal output from the posture angle sensor. Also good.

  Each of the microcomputers 11 and 12 includes inverters 13 and 15 so as to feedback-control the motor 17 on the basis of a rotation angle signal output from each of the rotation angle sensors 19 and 21 and indicating the rotation angle of the motor 17. Generate command values for each of. Each of the microcomputers 11 and 12 includes inverters 14 and 16 so as to feedback-control the motor 18 based on a rotation angle signal indicating the rotation angle of the motor 18 output from each of the rotation angle sensors 20 and 22. Generate command values for each of.

  The inverter 13 performs PWM (Pulse Width Modulation) control based on the command value output from the microcomputer 11, thereby generating a drive current for driving the motor 17 and supplying the drive current to the motor 17. The inverter 14 performs PWM control based on the command value output from the microcomputer 11, thereby generating a drive current for driving the motor 18 and supplying the drive current to the motor 18. The inverter 15 performs a PWM control based on the command value output from the microcomputer 12, thereby generating a drive current for driving the motor 17 and supplying the drive current to the motor 17. The inverter 16 performs a PWM control based on the command value output from the microcomputer 12, thereby generating a drive current for driving the motor 18 and supplying the drive current to the motor 18.

  Each of the motors 17 and 18 is a double winding motor. The motor 17 is driven based on the drive current supplied from the inverter 13 and the drive current supplied from the inverter 15. By driving the motor 17, the left wheel 2 of the inverted motorcycle 1 rotates. The motor 18 is driven based on the drive current supplied from the inverter 14 and the drive current supplied from the inverter 16. By driving the motor 18, the right wheel 2 of the inverted motorcycle 1 rotates.

  The rotation angle sensor 19 detects the rotation angle of the motor 17, generates a rotation angle signal indicating the detected rotation angle, and outputs the rotation angle signal to the microcomputer 11. The rotation angle sensor 20 detects the rotation angle of the motor 18, generates a rotation angle signal indicating the detected rotation angle, and outputs the rotation angle signal to the microcomputer 11. The rotation angle sensor 21 detects the rotation angle of the motor 17, generates a rotation angle signal indicating the detected rotation angle, and outputs the rotation angle signal to the microcomputer 12. The rotation angle sensor 22 detects the rotation angle of the motor 18, generates a rotation angle signal indicating the detected rotation angle, and outputs the rotation angle signal to the microcomputer 12.

  Each of the gyro sensors 23 and 24 has an angular velocity (an angular velocity around the pitch axis, a pitch when the passenger applies a load to the step cover 3 in the front-rear direction of the inverted motorcycle 1 with respect to the front-rear direction of the inverted motorcycle 1. Angular velocity) is detected, and angular velocity signals indicating the detected angular velocities are output to the microcomputers 11 and 12, respectively.

  Each of the clock generation circuits (clock generation units) 25 and 26 generates a clock signal and supplies it to each of the microcomputers 11 and 12. Each of the microcomputers 11 and 12 executes various processes at timings based on clock signals supplied from the clock generation circuits 25 and 26, respectively.

  Each of the step SWs (detection units) 27 and 28 is a device that detects that the passenger has boarded the inverted motorcycle 1. Each of the step SWs 27 and 28 is disposed below the left and right step covers (step units) 3. Steps SW27 and 28 are pressed by a pressure applied from the lower surface of the step cover 3 when the step cover 3 is pushed down by a load applied by the passenger when the passenger rides on the step cover 3. Each of the step SWs 27 and 28 outputs an ON signal to the microcomputers 11 and 12 for notifying that it is being pressed while being pressed from the step cover 3. That is, the ON signal output from the step SW27 functions as a signal for notifying that the occupant is on the left step cover 3, and the ON signal output from the step SW28 is applied to the right step cover 3. It functions as a signal for notifying that the person is carrying the right foot.

  Each of the microcomputers 11 and 12 performs the inverted control of the inverted motorcycle 1 while receiving the output of the ON signal from the steps SW27 and 28. As a result, the inverted motorcycle 1 travels while being inverted and controlled while the passenger is riding on the step cover 3 and riding the inverted motorcycle 1. The microcomputers 11 and 12 may perform the inversion control of the inverted motorcycle 1 when receiving an ON signal output from at least one of the steps SW27 and 28. However, preferably, in order to prevent the inverted motorcycle 1 from starting running while the passenger is on board, when the ON signal is output from both the steps SW27 and 28, the inverted motorcycle 1 Inversion control should be implemented. According to this, it is possible to further improve the safety when the passenger gets on the inverted motorcycle 1.

  Each of the microcomputers 11 and 12 switches to the traction mode when the traction mode switching button is pressed by the user when the ON signal is not output from both the steps SW27 and 28, and the motors 17 and 18 are switched. To control.

  Next, a detailed configuration of the microcomputers 11 and 12 according to the embodiment will be described with reference to FIG. FIG. 3 is a diagram illustrating a detailed configuration of the microcomputers 11 and 12 according to the embodiment.

  As described above, each of the microcomputers 11 and 12 includes the CPUs 110 and 120 that execute various processes related to the control of the inverted motorcycle 1. Each of the CPUs 110 and 120 executes a predetermined process each time a predetermined fixed time (processing interval time) elapses. For example, each of the CPUs 110 and 120 obtains sensor values (angular velocity signals and rotation angle signals) from the sensors (gyro sensors 23 and 24 and rotation angle sensors 19 to 22) as predetermined processing, and acquires the sensor values. Attitude control processing for calculating a command value based on the sensor values (the pitch angular velocity and the rotation angle of the motors 17 and 18 indicated by each of the angular velocity signal and the rotation angle signal), and the calculated command value for each of the inverters 13 to 16 The motor output process etc. to output to are executed. These processes may be performed at regular time intervals at the same timing, or may be performed at regular time intervals at different timings. In addition, the execution intervals of these processes may be the same time interval or different time intervals.

  Here, each of the CPUs 110 and 120 includes timers 111 and 121 that generate processing timings in the CPUs 110 and 120, respectively. Each of the timers 111 and 121 includes a counter (not shown) that measures time as a counter value. The timer 111 updates the counter value of the counter based on the clock signal ClkA from the clock generation circuit 25. The timer 121 updates the counter value of the counter based on the clock signal ClkB from each of the clock generation circuits 26. Each of the timers 111 and 121 updates the counter value of the counter, for example, at the input timing of the rising edge of the clock signal. Note that each of the timers 111 and 121 may update the counter value of the counter at the input timing of the falling edge of the clock signal, for example.

  Each of the CPUs 110 and 120 executes the above-described processing at regular time intervals based on the time measured by each of the timers 111 and 121. Specifically, each of the CPUs 110 and 120 sets an initial counter value for each counter of the timers 111 and 121. Each of the timers 111 and 121 counts down the counter value from the initial value based on the clock signal, and outputs an interrupt signal when the counter value underflows (when the counter value further decreases from -1). It is generated inside each of the CPUs 110 and 120. Thereby, an interrupt signal is generated at regular time intervals corresponding to the initial value of the counter value. That is, the initial value of the counter value set by each of the CPUs 110 and 120 is determined in advance so as to measure a desired fixed time. Each of the CPUs 110 and 120 executes processing at regular time intervals based on the interrupt signals from the timers 111 and 121, respectively. For example, when an interrupt signal is generated every 1 ms and there is a process that needs to be executed every 10 ms, each of the CPUs 110 and 120 operates in response to the generation of the interrupt signal and counts the number of times the interrupt signal is generated. Thus, every time the generation of 10 interrupt signals is counted, the processing is executed. Further, each of the timers 111 and 121 initializes the counter value of the counter to the initial value when the counter value underflows, and restarts the countdown from the initial value.

  Here, when there is a deviation between the clock signals ClkA and ClkB output from each of the clock generation circuits 25 and 26, the time (counter value) measured by each of the timers 111 and 121 is also shifted, The CPU 110 and the CPU 120 cannot execute processing in synchronization.

  Here, as shown in FIG. 4, there are “offset” and “slope” as factors that determine the deviation of the clock signal. The offset is a deviation of the rising edge of the clock signal that should have the same time. The slope is a shift in the pulse width of the clock signal. That is, when there is an offset in the clock signals ClkA and ClkB for each of the timers 111 and 121, there is a deviation in the timing for measuring the same time in each of the timers 111 and 121 (timing to count down to the same counter value). become. Further, when there is a slope between the clock signals ClkA and ClkB for each of the timers 111 and 121, the timer measured by the clock signal having a large pulse width is more than the timer measured by the clock signal having a small pulse width. The time is measured later (counter value is counted down later).

  In the present embodiment, the shift between the clock signals ClkA and ClkB is detected by using the fact that the ON signals output from the steps SW27 and 28 are simultaneously input to the CPUs 110 and 120, respectively. The time (counter value) of the timers 111 and 121 is corrected by the amount of deviation. As a result, the processing in each of the CPUs 110 and 120 can be executed synchronously.

  Next, an overview of the time synchronization method according to the embodiment will be described with reference to FIG. FIG. 5 is a diagram for explaining the outline of the time synchronization method according to the embodiment.

  In FIG. 5, “ClkA” indicates a clock signal supplied from the clock generation circuit 25 to the CPU 110 as described above, and “ClkB” indicates a clock supplied from the clock generation circuit 26 to the CPU 120 as described above. The signal is shown. “T1” indicates a certain timing, “T2” indicates a timing after T1, and “T3” indicates a timing after T2. “T2” and “T3” may be at the same timing.

  In the present embodiment, the current times of the timer 111 and the timer 121 are synchronized based on the idea shown in the following equations (1) and (2).

Tc0 (t) = T0 (t) −T03 (1)
Tc1 (t) = (T1 (t) −T13) × (T02−T01) / (T12−T11) (2)

Here, each value shown by Formula (1) and (2) becomes the following contents.
T0 (t): Current time of 0-system timer 111 T1 (t): Current time of 1-system timer 121 Tc0 (t): Current time after correction of 0-system timer 111 Tc1 (t): Current time after correction of 1-system timer 121 T01: Time of 0-system timer 111 at timing T1 T02: Time of 0-system timer 111 at timing T2 T03: Time of 0-system timer 111 at timing T3 T11: Time of system 1 timer 121 at timing T1 T12: Time of system 1 timer 121 at timing T2 T13: Time of system 1 timer 121 at timing T3

  “T0 (t) -T03” in the equation (1) and “T1 (t) -T13” in the equation (2) indicate the current times T0 (t) and T1 (t) of the timers 111 and 121, respectively. The time is corrected based on the same timing T3. According to this, at T3, the time of the timer 111 and the time of the timer 121 can be set to the same time. That is, according to this correction, it is possible to eliminate time deviation due to offset.

  Further, in “(T02−T01) / (T12−T11)” of Expression (2), “T02−T01” is a time from T1 to T2 measured by the timer 111 based on the clock signal ClkA. "T12-T11" is the time from T1 to T2 measured by the timer 121 based on the clock signal ClkB. Therefore, “(T02−T01) / (T12−T11)” is the ratio of the time measurement speed of the timer 111 to the time measurement speed of the timer 121. Therefore, by multiplying the current time of the timer 121 by “(T02−T01) / (T12−T11)”, the current time of the timer 121 is corrected to the current time when measured by the timer 111. can do. That is, according to this correction, it is possible to eliminate a time lag due to inclination.

  As described above, according to the above idea, after correcting the offset of the current time T1 (t) of the timer 121, the current time “T1 (t) −T13” of the timer 121 corrected for the offset is set to the timer 111, the current time T1 (t) of the timer 121 is made equal to the current time Tc0 (t) of the timer 111. t) can be corrected.

  As described above, in the present embodiment, the times of the timers 111 and 121 are reset to coincide with each other at T3, the time measured by the timer 111 from T1 to T2, and the time measured by the timer 121 from T1 to T2. Based on the ratio, the time of the timer 111 and the timer 121 is synchronized by appropriately correcting the time (counter value) subsequently measured by the timer 121.

  Then, with reference to FIG. 6, the time synchronization process of the inverted two-wheeled vehicle 1 concerning embodiment is demonstrated. FIG. 6 is a flowchart showing time synchronization processing of the inverted motorcycle 1 according to the embodiment. FIG. 7 is a diagram for explaining the details of the time synchronization method according to the embodiment.

Here, each value shown in FIG. 7 has the following contents.
C00: Initial value of the counter of the 0-system timer 111 C01: Initial value of the counter of the 1-system timer 121 (C01 = C00)
C0_12: Count number of 0-system timer 111 counter from T1 to T2 C1_12: Count count of 1-system timer 121 counter from T1 to T2 C0_F: Counter value of 0-system timer 111 at T2 (immediately after T2) Interrupt
(Equivalent to the count of the counter of the 0-system timer 111 until the time)
C1_F: Counter value of the 1-system timer 121 at T2 (interrupt immediately after T2
(Equivalent to the count of the counter of the 1st timer 121 until the time)
C0_23 expected value: count number of counter of timer 0 of system 0 from T2 to T3
(Values expected by the 1-system CPU 120)
C1 — 23: Count number of 1-system timer 121 counter from T2 to T3 C0_O expected value: Count of 0-system timer 111 from interrupt time immediately before T3 to T3
Count value (value expected by 1-system CPU 120)
C0_C expected value: Counter value in T3 (0 system from T3 to the time of the next interrupt
The count of the counter of the timer 111 (the CPU 120 of the 1 system
Value)

  Each of the CPUs 110 and 120 executes processing to be described later at predetermined intervals. For example, each of the CPUs 110 and 120 executes this process in response to the generation of an interrupt signal from each of the timers 111 and 121. First, each of the CPUs 110 and 120 determines whether or not one of the passenger's feet is placed on the step cover 3 (S1). Specifically, each of the CPUs 110 and 120 changes from a state where it does not receive an ON signal output from both of the steps SW27 and 28 to a state where it receives an ON signal output from either of the steps SW27 and 28. It is determined whether or not. When each of the CPUs 110 and 120 receives an ON signal output from one of the steps SW27 and 28 from a state in which no ON signal output is received from both the steps SW27 and 28, the passenger It is determined that one leg of the rider has been put on, and in other cases, it is determined that one leg of the passenger is not put on.

  When it is determined that one foot of the passenger is put on the step cover 3 (S1: Yes), each of the CPUs 110 and 120 determines the time at the timing T1 (the time of the 0 system is “T01”, and the time of the 1 system is “ T11 ") is recorded (S2). Specifically, each of the CPUs 110 and 120 stores the counter value acquired from each of the timers 111 and 121 at T1 as the time at T1 in the storage unit.

  When it is determined that one of the passenger's feet is not placed on the step cover 3 (S1: No), each of the CPUs 110 and 120 determines whether or not both feet of the passenger are placed on the step cover 3 (S3). . Specifically, each of the CPUs 110 and 120 changes from a state in which an ON signal is output from one of the steps SW27 and 28 to a state in which an ON signal is output from both of the steps SW27 and 28. It is determined whether or not. When each of the CPUs 110 and 120 receives an ON signal output from one of the steps SW27 and 28, and then receives an ON signal output from both of the steps SW27 and 28, the passenger It is determined that both feet of the rider have been put on, and in other cases, it is determined that both feet of the passenger have not been put.

  When it is determined that both feet of the passenger are put on the step cover 3 (S3: Yes), each of the CPUs 110 and 120 determines the time at the timing T2 (the time of the 0 system is “T02” and the time of the 1 system is “ T12 ") is recorded (S4). Specifically, each of the CPUs 110 and 120 stores, as the time at T2, the counter values C0_F and C1_F acquired from the timers 111 and 121 at T2, and the number of times the counter value has underflowed from T1 to T2, respectively. Store in the department. Each of the CPUs 110 and 120 may count the number of times that an interrupt signal has been generated from T1 to T2 as the number of times the counter value has underflowed from T1 to T2.

  The CPU 110 transmits information (time information) related to the time recorded at each of T1 and T2 to the other CPU 120 (S5). Specifically, the time information includes (1) an initial value C00 of the counter of the timer 111, (2) a count number C0_12 of the timer 111 from T1 to T2, and (3) a counter value of the timer 111 at T2 (immediately after T2). Count number of the timer 111 until the interruption of () C0_F).

(1) The initial value C00 is stored in advance in the storage unit of the microcomputer 11. The CPU 110 acquires the initial value C00 from the storage unit and sets it in the counter of the timer 111 when the control device 10 starts operating with the power turned on. This operation is the same for the microcomputer 12, the CPU 120, and the timer 121. That is, the initial value C01 of the counter of the timer 121 is also stored in advance in the storage unit of the microcomputer 12. Therefore, the CPU 110 acquires the initial value C00 of the counter of the timer 111 from the storage unit and transmits it to the CPU 120.

(2) The count number C0_12 corresponds to a time “T02−T01” when the timer 111 measures T1 to T2 based on the clock signal ClkA. The count number C0_12 is calculated based on the times T01 and T02 recorded by the CPU 110 in steps S2 and S2, respectively. CPU110 calculates count number C0_12, and transmits to CPU120. The count number “C0 — 12” may be calculated by the following equation (3), for example, but is not limited thereto. The CPU 110 may count the number of times that an interrupt signal is generated from T1 to T2 as “the number of underflows of the timer 111 from T1 to T2.” Further, the CPU 110 acquires the counter value recorded in step S2 from the storage unit as “the counter value of the timer 111 at T1”. Further, the CPU 110 acquires the counter value recorded in step S3 from the storage unit as “the counter value of the timer 111 at T2”.

C0_12 =
C00 × (number of underflows of timer 111 from T1 to T2−1)
Counter value of timer 111 at + T1 Counter value C0_F of timer 111 at + C00-T2 (3)

(3) The counter value C0_F is recorded as time T02 in step S3. Therefore, the CPU 110 acquires the counter value C0_F recorded in step S3 from the storage unit and transmits it to the CPU 120.

  In response to the reception of the time information transmitted from the CPU 110, the CPU 120 corrects the time of the timer 121 so that the times of the timer 111 and the timer 121 are synchronized using the received time information (S6). Here, the timing at which the CPU 120 receives the time information from the CPU 110 is T3 (the time of system 0 is “T03” and the time of system 1 is “T13”). Specifically, the CPU 120 calculates a corrected counter value “after C1_C correction” set in the counter of the timer 121 at T3 by the following equations (4) to (7). Further, the CPU 120 calculates an initial value “after C01 correction” after correction of the counter of the timer 121 thereafter by the equation (8).

C0_23 expected value = C1_23 × (C0_12 / C1_12) (4)
C0_O predicted value = (C0_23 predicted value−C0_F) mod C00 (5)
C0_C expected value = C00-C0_O expected value (6)
After C1_C correction = C0_C expected value × (C1_12 / C0_12) (7)
After C01 correction = C00 × (C1 — 12 / C0 — 12) (8)

  First, equation (4) will be described. The count number “C0 — 23 expected value” calculated by Expression (4) corresponds to the time measured by the timer 111 from T2 to T3 based on the clock signal ClkA. As described above, the count number “C — 012” corresponds to the time measured by the timer 111 from T1 to T2 based on the clock signal ClkA. The count number “C1_12” corresponds to the time “T12−T11” when the timer 121 measures the time from T1 to T2 based on the clock signal ClkB. Therefore, “(C0 — 12 / C1 — 12)” is a ratio of the time measurement speed (counter countdown speed) of the timer 111 to the time measurement speed (counterdown speed of the counter) of the timer 121.

  The count number “C1 — 23” corresponds to a time “T13−T12” when the timer 121 measures T2 to T3 based on the clock signal ClkB. Therefore, as shown in the equation (4), the count number “C1 — 23” of the timer 121 from T2 to T3 is multiplied by “(C0 — 12 / C1 — 12)” to obtain the count number “C0 — 23” of the timer 111 from T2 to T3. An “expected value” can be calculated. The count numbers “C1_12” and “C1_23” may be calculated by, for example, the following equations (9) and (10), but are not limited thereto. The CPU 120 may count the number of times the interrupt signal is generated from T1 to T2 as “the number of underflows of the timer 121 from T1 to T2,” and “the number of underflows of the timer 121 from T2 to T3”. As a result, the number of times the interrupt signal is generated from T2 to T3 may be counted. Further, the CPU 120 acquires the counter value recorded in step S2 as “the counter value of the timer 121 at T1,” and stores the counter value recorded in step S3 as “the counter value of the timer 121 in T2.” Get from the department. Further, the CPU 120 obtains the current (T3) counter value of the timer 121 from the timer 121 as “the counter value of the timer 121 at T2”.

C1_12 =
C11 × (number of underflows of timer 121 from T1 to T2−1)
Counter value of timer 121 at + T1 Counter value C1_F of timer 121 at + C11−T2 (9)
C1_23 =
C11 × (number of underflows of timer 121 from T2 to T3−1)
-Counter value C1_F of timer 121 at T2
The counter value of the timer 121 at + C11-T3 (10)

  Next, equation (5) will be described. The “C0_O expected value” calculated by the equation (5) corresponds to the time measured by the timer 111 from the time of interruption immediately before T3 to T3 based on the clock signal ClkA. By subtracting the counter value “C0_F” from the count number “C0_23 expected value”, the time (count number) from T2 to the next interrupt time can be subtracted from the count number “C0_23 expected value”. Therefore, as shown in Expression (5), by dividing “C00” from “(C0_23 expected value−C0_F)”, the remainder is the count number “C0_O expected value from the time of the interrupt immediately before T3 to T3”. Can be calculated.

  Next, equation (6) will be described. The “C0_C expected value” calculated by equation (6) corresponds to the time from T3 to the time of the next interrupt. Therefore, as shown in Expression (6), immediately after T3, the count number “C0_O expected value” from the time of the interrupt immediately before T3 to T3 is subtracted from the count number “C00” corresponding to the interrupt generation interval. It is possible to calculate the count number “C0_C expected value” until the occurrence of the interrupt.

  From the above equations (4) to (6), the counter value of the 0-system timer 111 at T3 can be estimated as “C0_C expected value”. Therefore, the CPU 120 sets the “C0_C expected value” to the counter of the timer 121 as the counter value at T3, thereby synchronizing the time of the timer 121 (counter value) with the time of the timer 111 (counter value). Time. That is, the time shift due to the offset can be eliminated.

  However, when the counter value “C0_C expected value” is simply set in the counter of the timer 121 as it is, the timing at which the counter values of the timers 111 and 121 underflow next due to the inclination (the interrupt generation timings of the CPUs 110 and 120). ) Will be misaligned. Therefore, as shown in the equation (7), the ratio of the time measurement speed (counter countdown speed) of the timer 121 to the time measurement speed (counter countdown speed) of the timer 111 with respect to the counter value “C0_C expected value” “ (C1 — 12 / C0 — 12) ”, the timer 111 starts counting down from the counter value“ C0_C expected value ”and underflows, and the timer 121 counter value becomes the same as the counter value of the timer 121. “After C1_C correction” is calculated.

  As described above, the CPU 120 sets the count value “after C1_C correction” calculated by the equations (4) to (7) to the counter value of the timer 121 based on the time information received from the CPU 110 at T3. According to this, it is possible to synchronize the times of the timer 111 and the timer 121 by eliminating the time shift due to the offset and the inclination between the timers 111 and 121. That is, the CPU 110 and the CPU 120 can generate the next interrupt of T3 synchronously.

  Further, the CPU 120 calculates an initial value “after C01 correction” after correction of the counter of the timer 121 by the equation (8). As shown in Equation (8), the timer 111 starts counting down from the counter value “C00” by multiplying the initial value “C00” of the timer 111 by the ratio “(C1 — 12 / C0 — 12)”. It is possible to calculate an initial value “after C01 correction” of the counter in which the timing of flow and the timing of underflow of the timer 121 are the same. Then, the CPU 120 sets “after C01 correction” calculated by the equation (8) as the initial value of the counter of the timer 121. According to this, it is possible to synchronize the times of the timer 111 and the timer 121 without any time lag due to the inclination thereafter. That is, the CPU 110 and the CPU 120 can also generate an interrupt after T3 in synchronization.

  And each of CPU110,120 performs the process regarding control of the inverted motorcycle 1 (S7). Specifically, each of the CPUs 110 and 120 is based on the time measured by the timers 111 and 121, and when the previous sensor acquisition process, the attitude control process, the motor output process, and the like are executed, The process is executed.

  According to the time synchronization process described above, based on the time information transmitted from the CPU 110 by the CU 120, the time measured by the timer 121 used by the CPU 120 is corrected to the time when the timer 111 used by the CPU 110 measures. can do. Therefore, it is possible to improve the accuracy of synchronization of processes executed by the CPU 110 and the CPU 120.

  Here, in the sensor acquisition process, the pitch angular velocity detected by the gyro sensor 23 and the pitch angular velocity detected by the gyro sensor 24 are compared, and the failure of the gyro sensor 23 or 24 depends on whether or not the compared pitch angular velocities match. The effect of the present embodiment will be described by taking as an example the case of performing the process of diagnosing the above.

  Specifically, the CPU 120 generates angular velocity information indicating the pitch angular velocity indicated by the angular velocity signal output from the gyro sensor 120 and outputs the angular velocity information to the CPU 110. The CPU 110 compares the pitch angular velocity indicated by the angular velocity signal output from the gyro sensor 23 with the pitch angular velocity indicated by the angular velocity information output from the CPU 120. If the compared pitch angular velocities match, the CPU 110 determines that the gyro sensors 23 and 24 are operating normally. If the compared pitch angular velocities do not match, one of the gyro sensors 23 and 24 has failed. Is determined. Here, in order to prevent the pitch angular velocities from being determined to be inconsistent due to a small amount of detection error or acquisition timing deviation, the CPU 110 agrees when the pitch angular velocities do not exceed a predetermined threshold value. If the pitch angular velocity is more than a predetermined threshold, it is determined that they do not match.

  For example, as illustrated in FIG. 8A, when the CPU 110 and the CPU 120 are not able to execute processing in synchronization, the sensor acquisition processing execution timings AT01 to AT09 determined by the CPU 110 and the sensor acquisition determined by the CPU 120 The process execution timings AT11 to AT19 are misaligned. In this case, the difference between the pitch angular velocity acquired by the CPU 110 from the gyro sensor 23 and the pitch angular velocity acquired by the CPU 120 from the gyro sensor 24 becomes large. Therefore, in order to prevent erroneous determination that the pitch angular velocities do not match, it is necessary to increase the above threshold value. However, if the threshold value is increased as such, the accuracy of detecting a failure is reduced.

  On the other hand, according to the present embodiment, as shown in FIG. 8B, the CPU 110 and the CPU 120 can execute the process synchronously, and therefore, the sensor acquisition process execution timings AT01 to AT09 determined by the CPU 110, The sensor acquisition process execution timings AT11 to AT19 determined by the CPU 120 can be synchronized. Therefore, the difference between the pitch angular velocity acquired by the CPU 110 from the gyro sensor 23 and the pitch angular velocity acquired by the CPU 120 from the gyro sensor 24 can be reduced. According to this, since it is not necessary to increase the above-described threshold value, it is possible to improve the accuracy of detecting a failure.

  Subsequently, a fine adjustment method for tilt correction according to the embodiment will be described with reference to FIGS. FIG. 9 is a diagram for explaining problems in tilt correction. FIG. 10 is a diagram illustrating an example of fine adjustment of inclination correction according to the embodiment.

  First, with reference to FIG. 9, problems in tilt correction will be described. In this embodiment, as described above, the initial value of the timer 121 is set to the initial value “after C01 correction” of the counter calculated by the equation (8) to correct the inclination, and the timer 111 and the timer 121 are corrected. Synchronize

  However, in the calculation of the initial value “after C01 correction” of the counter, as shown in FIG. 9, the actual operation value of the initial value “after C01 correction” of the counter may not be an integer. On the other hand, generally only an integer can be set as the initial value of the counter of the CPU timer. For example, as shown in FIG. 9, when “4996.866211094...” Is calculated as the actual operation value of the initial value “after C01 correction” of the counter, the actual value of the initial value “after C01 correction” of the timer 121 is calculated. The value is “4997”. That is, an error occurs between the actual operation value of the initial value of the timer 121 counter and the actual set value of the initial value of the timer 121 counter.

  In this case, for example, if the operation is continued for a few seconds, errors accumulate, and the timing at which the timer 111 counter value underflows and an interrupt occurs, and the timer 121 counter value underflows and an interrupt occurs. There will be a gap in the timing of That is, the processing cannot be synchronized between the 0-system CPU 110 and the 1-system CPU 120.

  Therefore, in this embodiment, every time the counter underflow of the timer 121 occurs for a predetermined number of times, the error accumulation at that number is calculated as the count number, and the counter value that causes an error with the calculated count number is calculated. The initial value of the counter of the timer 121 is corrected so as to cancel the error accumulation. As a result, accumulation of errors between the actual operation value and the actual set value in the corrected initial value of the timer 121 counter is eliminated, and the timer 110 underflows in synchronization with the timer 110 time and the timer 121 time. The timing can be synchronized with the timing at which the timer 121 underflows.

  Next, with reference to FIG. 10, a fine adjustment process for tilt correction according to the embodiment, which is the process, will be described. In FIG. 10, as described above, the actual calculation value of the initial value “after C01 correction” after correction of the counter is “4996.866211094...”, And the initial value “C01 correction after correction of the timer 121”. The case where the actual setting value of “after” is “4997” will be described. In this case, the error between the actual calculation value and the actual setting value in the initial value “after C01 correction” after correction of the counter is “0.13378906.

  In this case, every time the timer 121 is initialized (10 underflows, 10 interrupts), the count down of the timer 121 is delayed by “1.3378906 (0.13378906 × 10)” counts. . In other words, the count-down delay of the timer 121 is accumulated for about 1 count. Therefore, the CPU 120 corrects the actual set value “4997” of the initial value “after C01 correction” after correction of the counter of the timer 121 by subtracting “1” every time the timer 121 is initialized. Specifically, every time the timer 121 is initialized 10 times, the CPU 120 subtracts the actual operation value from the actual setting value “0.13378906” by subtracting the actual setting value “4997” after the counter correction. ”Is multiplied by the correction interval“ 10 (10 times) ”and the value“ 1 ”of the integer part of the value“ 1.3378906 ”is subtracted and corrected.

  For example, when the actual set value of the initial value “after C01 correction” after correction of the counter of the timer 121 is corrected when the timer 121 is initialized (n × 10) times, the CPU 120 determines that (n × 10− 1) The initial value of the counter of the timer 121 is changed to “4996 (4999-1)” in response to the interrupt from the timer 121 for the first time, and the timer 121 is changed in response to the interrupt from the timer 121 for the (n × 10) time. The initial value of the counter may be returned to “4997” (where n is a positive integer).

  In addition, every time the timer 121 is initialized (100 times underflow, 100 times interrupt), the countdown of the timer 121 is delayed by “13.378906 (0.13378906 × 100)” counts. In other words, the countdown delay of the timer 121 is accumulated for about 13 counts. Here, when the above-described correction of the initial value for each initialization of the timer 121 is performed, the 10th place out of the countdown delay “13 counts” in the initialization of the timer 121 for 100 times. Since the delay of 1 is corrected, the delay of “1 count” “3 counts” may be corrected. Therefore, every time the timer 121 is initialized 100 times, the CPU 120 corrects the actual set value “4997” of the initial value “after C01 correction” after correction of the counter of the timer 121 by subtracting “3”. Specifically, every time the timer 121 is initialized 100 times, the CPU 120 subtracts the actual calculation value from the actual setting value, “0.13378906”, after subtracting the actual setting value “4997” after the counter correction. ”Is multiplied by the correction interval“ 100 (10 times) ”, and the value“ 3 ”of the first place of the integer part of the value“ 13.378906 ”is subtracted and corrected.

  Therefore, the CPU 120, when combined with the above-mentioned 10 corrections for each initialization of the timer 121, sets “4993 (4999-1) as the initial value after the correction of the counter of the timer 121 for every 100 initializations of the timer 121. -3) ".

  For example, in addition to the initialization of the (n × 10) -th timer 121 described above, the initial value “after C01 correction” after correction of the counter of the timer 121 is also performed when the timer 121 is initialized (n × 100). When the actual setting value is corrected, the CPU 120 sets the initial value of the counter of the timer 121 to “4993 (4997-1-3)” in response to the (n × 100-1) th interrupt from the timer 121. And the initial value of the counter of the timer 121 may be returned to “4997” in response to the (n × 100) -th interrupt from the timer 121 (where n is a positive integer). That is, in addition to the correction for each initialization of the timer 121 for 10 times, the correction for each initialization of the timer 121 for 100 times is performed at the time of the initialization of the timer 121 for the (n × 10) th time. However, when the timer 121 is initialized for the (n × 100) th time, the initial value of the counter of the timer 121 is changed to “4993” instead of “4996”.

  As described above, the correction value related to the correction for each initialization of the timer 121 for the 10th power is 10 n to the value of the nth decimal point of the error “0.13378906” between the actual setting value and the actual calculation value. A value obtained by multiplication may be used (n is a positive integer).

  According to this, for example, every time the timer 121 is initialized 10 times, 100 times, 1000 times, 10000 times, and 100000 times, the initial value “after C01 correction” after correction of the counter of the timer 121 is corrected. In this case, as shown in FIG. 10, in the correction for every initialization of the timer 121 for 100,000 times, the initial value after the correction of the counter is “4975 (4997-1-3-3-7-8)”. Good.

  It should be noted that the number of times to which the correction is performed every initialization of the timer 121 is not limited to the above example, and may be arbitrarily determined. For example, only 10 1 (10) times of correction of the timer 121 for each initialization and 10 2 (100) times of correction of the timer 121 for each initialization may be performed.

  Further, the interval for correcting the initial value of the counter of the timer 121 is not limited to the interval for each initialization of the timer 121 of 10 n times as in the above example, and may be arbitrarily determined. . For example, the initial value of the counter of the timer 121 may be corrected every time the timer 121 is initialized eight times. In this case, every time the timer 121 is initialized eight times, the initial value of the counter of the timer 121 may be corrected by one count (1.07033248 (0.13378906 × 8)). Further, for example, the correction for each initialization of the timer 121 may be performed 100 times without performing the correction for each initialization of the timer 121 10 times. In this case, the initial value of the counter of the timer 121 may be corrected by 13 counts (13.378906 (0.13378906 × 10)) every time the timer 121 is initialized 100 times.

  As described above, in the present embodiment, the CPU 120 is from T1 (when the first predetermined event is detected) to T2 (when the second predetermined event is detected) obtained from the time information transmitted from the CPU 110. Based on the ratio between the elapsed time in the timer 111 and the elapsed time in the timer 121 from T1 to T2, the time measured by the timer 121 is corrected to the time when the timer 111 measures. According to this, it is possible to improve the accuracy of the synchronization of the processing related to the control of the inverted two-wheeled vehicle 1 (coaxial two-wheel moving body) executed by each of the CPUs 110 and 120 based on the respective times of the timer 111 and the timer 121. .

  In the present embodiment, CPU 110 and CPU 120 detect timings T1 and T2 for recording times used for time synchronization based on changes in signals simultaneously input to CPU 110 and CPU 120 from steps SW27 and 28, respectively. I am doing so. According to this, since the CPU 110 and the CPU 120 can eliminate the deviation of the timing for recording the time as T1 and T2, the time after the correction of the timer 121 calculated based on the recorded time can be increased with higher accuracy. Can be calculated so as to be synchronized with the time of the timer 111.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.

  In the above embodiment, as an example, the time used for time synchronization is recorded when it is detected that one of the passenger's feet is placed and when both the feet of the passenger are placed. However, the event that triggers recording the time used for time synchronization is not limited to this. Two predetermined events (a first predetermined event and a second predetermined event) arbitrarily determined in advance may be determined as triggers for recording the time used for time synchronization. For example, as two events serving as triggers for recording the time used for correction, one of the passenger's feet is placed based on the presence or absence of an ON signal from steps SW27 and 28, and both of the passenger's feet To detect one of the different events among the passengers, the passenger's one foot not being placed, and the passenger's both feet not being placed. Good.

  For example, considering that the inverted motorcycle 1 is used in the traction mode, preferably, it is detected that one of the passenger's feet is not placed as an event of T1, and both of the passenger's feet are detected as an event of T2. It is good to detect that is no longer mounted. Specifically, each of the CPUs 110 and 120 changes from a state in which an ON signal is output from both of the steps SW27 and 28 to a state in which an ON signal is output from one of the steps SW27 and 28. If it is, it is determined that one of the passenger's legs is no longer placed. In addition, when each of the CPUs 110 and 120 is in a state where it has not received an ON signal output from both of the steps SW27 and 28 from a state in which it has received an ON signal output from either of the steps SW27 and 28, It is determined that both feet of the passenger are no longer placed. By doing so, since the time synchronization processing is performed based on the state of the clock signal in a closer time zone when used in the traction mode, the processing related to the control of the inverted motorcycle 1 in the traction mode is performed. , Can be synchronized with higher accuracy. However, in consideration of using the inverted motorcycle 1 in the riding mode, it is preferable to detect that one foot of the passenger is placed as an event of T1, as in the above-described embodiment, As an event, it may be detected that both feet of the passenger are placed.

  In addition, as an event serving as a trigger for recording the time used for correction, an event determined based on a signal from a device other than the steps SW27 and 28 (alighting switch or a lean angle sensor) may be used. For example, the getting-off switch is a switch for instructing the inverted two-wheeled vehicle 1 that the passenger shifts the inverted two-wheeled vehicle 1 to a state in which the passenger can get off. When the get-off switch is pressed by a passenger, the get-off switch outputs a signal to the CPUs 110 and 120 for instructing a transition to a state where the user can get off. Each of the CPUs 110 and 120 controls the motors that drive the left and right wheels 2 to stop the traveling of the inverted two-wheeled vehicle 1 in accordance with the output of a signal from the getting-off switch. Then, each of the CPUs 110 and 120 may handle the output of a signal from the getting-off switch as an event serving as a trigger for recording the time used for correction. Further, for example, the lean angle (roll angle) sensor is a signal that detects the lean angle of the inverted motorcycle 1 and notifies the CPUs 110 and 120 of a lean angle signal indicating the detected lean angle. Then, the CPUs 110 and 120 may treat the lean angle indicated by the lean angle signal as a predetermined angle as an event serving as a trigger for recording the time used for correction.

  Further, the CPU 120 calculates the time value of the timer 121 by calculating and setting the corrected counter value “after C1_C correction”, and calculates and sets the corrected counter initial value “after C01 correction”. Only one of the time corrections of the timer 121 may be performed. However, preferably, the time of the timer 111 and the timer 121 can be synchronized with higher accuracy by performing both of the two time corrections as in the above embodiment.

  Further, the CPU 120 calculates the corrected counter value “after C1_C correction” according to the equation (7), but calculates the corrected counter value “after C1_C correction” as “C0_C expected value”. May be. This is also because the offset can be corrected. However, preferably, as in the above-described embodiment, by calculating the corrected counter value “after C1_C correction” according to Equation (7), the inclination is also corrected, and the timer 111 and the timer 111 can be corrected with higher accuracy. The time of the timer 121 can be synchronized.

  In the above embodiment, the CPU 120 acquires the initial value “C00” of the counter of the timer 111 from the CPU 110, but the present invention is not limited to this. For example, the initial value “C00” of the counter of the timer 111 may be stored in advance in the storage unit of the microcomputer 12 and may be acquired from the storage unit by the CPU 120.

  In the above-described embodiment, the CPU 110 calculates the count number “C0 — 12”, but is not limited thereto. The CPU 111 transmits the time information including “the number of underflows of the timer 111 from T1 to T2” and “the counter value of the timer 111 at T1” to the CPU 120, and the CPU 120 counts based on the time information. The number “C0_12” may be calculated.

  In the above embodiment, the timers 111 and 121 generate an interrupt and initialize the counter value when the counter value underflows (when the counter value becomes a value further reduced by -1). However, the present invention is not limited to this as long as an interrupt is generated and the counter value is initialized when the countdown is performed to a predetermined value. For example, the timers 111 and 121 may generate an interrupt and initialize the counter value when the counter value becomes zero.

  In the above-described embodiment, the duplex system in which the control system (CPU) is duplexed has been described. However, the present invention can also be applied to a multiple system other than duplex such as a triple or quadruple system.

DESCRIPTION OF SYMBOLS 1 Inverted motorcycle 2 Wheel 3 Step cover 4 Handle 10 Control apparatus 11, 12 Microcontroller 13, 14, 15, 16 Inverter 17, 18 Motor 19, 20, 21, 22 Rotation angle sensor 23, 24 Gyro sensor 25, 26 Clock generation Circuits 27 and 28 Step SW
110, 120 CPU
111, 121 timer

Claims (8)

A coaxial two-wheel moving body that moves according to control,
A first clock generator for generating a first clock signal;
A second clock generator for generating a second clock signal;
A first timer for measuring time based on the first clock signal;
A second timer for measuring time based on the second clock signal;
A first CPU for controlling the coaxial two-wheel moving body based on a time measured by the first timer;
A second CPU that controls the coaxial two-wheel moving body based on a time measured by the second timer;
The first CPU includes the time of the first timer at the time of detecting the first predetermined event and the first timer at the time of detecting the second predetermined event that occurs after the first predetermined event. Sending time information about the time of the second to the second CPU,
The second CPU is an elapsed time in the first timer from the time of detection of the first predetermined event to the time of detection of the second predetermined event obtained from the time information transmitted from the first CPU. And the time measured by the second timer based on the ratio of the elapsed time in the second timer from the time of detection of the first predetermined event to the time of detection of the second predetermined event. Correct to the time when measured by 1 timer,
Coaxial two-wheel moving body. The first timer has a first counter, and counts the first counter to a predetermined value from an initial value based on the first clock signal to generate an interrupt as the time measurement. Repeat the action
The second timer has a second counter, and generates the interrupt by counting down the second counter from the initial value to a predetermined value based on the second clock signal as the time measurement. Repeat the action
The first CPU operates in response to the occurrence of an interrupt from the first timer to control the coaxial two-wheel moving body,
The second CPU operates in response to the occurrence of an interrupt from the second timer to control the coaxial two-wheel moving body,
The elapsed time in the first timer is the count number of the first counter,
The elapsed time in the second timer is the count number of the second counter,
The second CPU corrects the time measured by the second timer based on the ratio between the count number of the first counter and the count number of the second counter. The initial value of the second counter is corrected so that the time until the second counter is counted down from the initial value to the predetermined value is the same as the time until the second counter is counted down from the initial value to the predetermined value. ,
The coaxial two-wheel moving body according to claim 1. The second CPU is further configured based on a ratio between the count number of the first counter and the count number of the second counter in response to reception of the time information transmitted from the first CPU. The counter value of the first counter at the time of reception of the time information is estimated from the count number of the second counter from the time of detection of the second predetermined event to the time of reception of the time information. A counter value based on the counter value of the first counter is set in the second counter;
The coaxial two-wheel moving body according to claim 2. Each time the second CPU counts down a predetermined number of times from the corrected initial value to a predetermined value, the second CPU calculates an actual value of the corrected initial value of the second counter; The accumulation of error with the actual setting value of the initial value after the correction of the second counter is calculated as a count number, and the actual setting value is corrected so as to cancel the accumulation of error with the calculated count number;
The coaxial two-wheel moving body according to claim 2 or 3. The coaxial two-wheeled vehicle further includes:
A first step portion on which one of the passenger's legs is placed;
A second step portion on which the other leg of the passenger is placed;
A first ON signal for notifying the placement of the foot when the placement of the foot on the first step unit is detected; the first CPU outputting the first ON signal to the first CPU and the second CPU; A detection unit;
A second ON signal for notifying the placement of the foot when the placement of the foot with respect to the second step unit is detected; outputting the second ON signal to the first CPU and the second CPU; A detection unit;
The first CPU and the second CPU have a first ON signal from the first detection unit and a second detection unit as the first predetermined event and the second predetermined event, respectively. On the basis of whether or not the second ON signal is output from the vehicle, that one of the passenger's feet has been placed, that both of the passenger's feet have been placed, and that one of the passenger's feet has been placed. Detecting any different event from the fact that the passenger is no longer placed and both feet of the passenger are no longer placed.
The coaxial two-wheel moving body according to any one of claims 1 to 4. The first CPU and the second CPU detect that the one foot of the occupant is placed as the first predetermined event,
The first CPU and the second CPU detect that both feet of the occupant are placed as the second predetermined event,
The first CPU and the second CPU are configured to perform the boarding based on presence / absence of output of a first ON signal from the first detection unit and a second ON signal from the second detection unit. When it is determined that both feet of the person are placed, control the coaxial two-wheeled vehicle,
The coaxial two-wheel moving body according to claim 5. The first CPU and the second CPU detect, as the first predetermined event, that one of the passenger's feet is no longer placed,
The first CPU and the second CPU detect that both feet of the occupant are no longer placed as the second predetermined event,
The coaxial two-wheel moving body is a traction device in which the first CPU and the second CPU control the coaxial two-wheel moving body in response to an operation on the coaxial two-wheel moving body when the passenger is not on board. Has a mode,
The coaxial two-wheel moving body according to claim 5. With a first CPU that operates based on the time measured by the first timer by the first clock signal, and a second CPU that operates based on the time measured by the second timer by the second clock signal There is a control method for controlling a coaxial two-wheel moving body,
The first CPU detects the time of the first timer at the time of detection of the first predetermined event and the first timer at the time of detection of the second predetermined event that occurs after the first predetermined event. Sending time information about the time to the second CPU;
Elapsed time in the first timer from the time of detection of the first predetermined event to the time of detection of the second predetermined event obtained by the second CPU from time information transmitted from the first CPU. And the time measured by the second timer based on the ratio of the elapsed time in the second timer from the time of detection of the first predetermined event to the time of detection of the second predetermined event. A step of correcting to the time when measured by one timer;
Control method with.

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