JP3981733B2 - Parallel two-wheel passenger cart - Google Patents

Parallel two-wheel passenger cart Download PDF

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JP3981733B2
JP3981733B2 JP2003323980A JP2003323980A JP3981733B2 JP 3981733 B2 JP3981733 B2 JP 3981733B2 JP 2003323980 A JP2003323980 A JP 2003323980A JP 2003323980 A JP2003323980 A JP 2003323980A JP 3981733 B2 JP3981733 B2 JP 3981733B2
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base
boarding
parallel
sensor
motor
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JP2005094898A (en
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治 松本
清 小森谷
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National Institute of Advanced Industrial Science and Technology AIST
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Description

本発明は、台車上に乗った利用者のバランスを検出することにより、モータで駆動する平行２輪車の駆動制御を行って自立させるとともに前後進を行い、また利用者の体重移動のみによって自由な方向に操行することができるようにした平行２輪乗用台車に関する。   The present invention detects the balance of a user riding on a carriage, thereby controlling and driving the parallel two-wheeled vehicle driven by a motor so that it can move forward and backward, and can be freely moved only by shifting the weight of the user. The present invention relates to a parallel two-wheeled carriage that can be operated in any direction.

従来より、台車を備えた平行２輪車の各々の車輪を、互いに独立して作動するモータにより駆動するとともに、台車に乗った利用者を含めた台車にかかる重力バランスを検出して各モータの作動を制御し、台車を自立可能とするとともに、利用者の前後方向の重心移動を検出することにより前後進の意志及びその程度を推定して台車全体の前後進制御を行い、更に利用者による別途操作指示により操行方向の制御を行うようにした平行２輪乗用台車が提案され一部実用化がなされている。   Conventionally, each wheel of a parallel two-wheeled vehicle provided with a carriage is driven by a motor that operates independently of each other, and a gravity balance applied to the carriage including a user riding on the carriage is detected to detect each of the motors. By controlling the operation and making the cart independent, it is possible to estimate the will and degree of forward and backward movement by detecting the center of gravity movement of the user in the longitudinal direction, and to perform the forward and backward control of the entire cart, and further by the user Separately, a parallel two-wheeled carriage that controls the direction of operation by operating instructions has been proposed and partially put into practical use.

このような平行２輪乗用台車としては例えば図３（ａ）に示すような平行２輪形式のスクータが存在する。この平行２輪形式のスクータにおいては、台車４１の両側に各々が互いに平行に、かつ台車４１に対して独立して回転可能に支持した車輪４２、４３を備え、台車４１にアルミニウム製ステアリングロッド４４を固定している。   As such a parallel two-wheeled carriage, for example, there is a parallel two-wheel type scooter as shown in FIG. This parallel two-wheeled scooter includes wheels 42 and 43 supported on both sides of a carriage 41 so as to be parallel to each other and independently rotatable with respect to the carriage 41, and the carriage 41 has an aluminum steering rod 44. Is fixed.

この台車４１は図３（ｂ）にその主要構成部品を分解状態で示しているように、ケーシング４５の両側に第１モータ４６及び第２モータ４７を備え、その下方に配置するバッテリ４８、４８をその駆動電源とし、各モータに対応する車輪４２、４３を減速機を介して駆動している。このモータは２馬力程度のブラシレス形式で、高効率で耐久性が高く、メンテナンスフリーのものが用いられる。   As shown in FIG. 3B, the main components are disassembled, and the carriage 41 includes a first motor 46 and a second motor 47 on both sides of the casing 45, and batteries 48, 48 disposed below the first motor 46 and the second motor 47. Is used as the driving power source, and the wheels 42 and 43 corresponding to the respective motors are driven via a reduction gear. This motor is a brushless type of about 2 horsepower, and has high efficiency, high durability, and maintenance-free.

また、バッテリ４８はニッカド（ＮｉＣｄ）電池、或いはニッケルメタルハイドライドを用いた電池が採用され、１１０ｋｇ程度の人が３４ｋｇの荷物を持って乗っても作動可能とし、バッテリの１回の充電で最大２８ｋｍ走行可能であり、通常の作動状態では１７ｋｍ程度走行可能とし、時速２０ｋｍの速度で走行することができるようにしている。また、これらのモータによる車輪を駆動する部分には減速機を備え、２４：１程度の減速比のヘリカルギアを用いて車輪を駆動している。   In addition, the battery 48 uses a NiCd battery or a battery using nickel metal hydride. The battery 48 can operate even when a person of about 110 kg rides with 34 kg of luggage, and can be up to 28 km by charging the battery once. The vehicle is capable of traveling, and can travel about 17 km in a normal operation state, and can travel at a speed of 20 km / h. Moreover, the part which drives the wheel by these motors is equipped with a reduction gear, and the wheel is driven using a helical gear with a reduction ratio of about 24: 1.

ケーシング内にはバランスセンサ５０を備え、１自由度につき少なくとも２つのレートジャイロによりその作動を検出し、合計５個のレートジャイロを備えており、また傾斜センサ（加速度センサ）を備えている。更に、一対の制御回路基板５１を備えており、この制御回路基板５１は上記ジャイロと傾斜センサの信号等の種々の信号を入力して両モータ４６、４７の正逆方向の回転制御を行い、車輪型倒立振り子の安定化制御法によってこの台車を自立可能としている。また、ステアリングロッド４４の上端にはハンドル５２を備え、このハンドル５２の片側に設けたグリップ５３を回転操作することにより両側のモータの回転速度を調節し、ステアリングを可能としている。   A balance sensor 50 is provided in the casing, and its operation is detected by at least two rate gyros per one degree of freedom. A total of five rate gyros are provided, and an inclination sensor (acceleration sensor) is provided. Furthermore, the control circuit board 51 includes a pair of control circuit boards 51. The control circuit board 51 inputs various signals such as the signals of the gyroscope and the tilt sensor to control the rotation of the motors 46 and 47 in the forward and reverse directions. This cart can be made independent by the stabilization control method of the wheel type inverted pendulum. Further, a steering wheel 52 is provided at the upper end of the steering rod 44, and by rotating a grip 53 provided on one side of the steering wheel 52, the rotational speed of the motors on both sides is adjusted to enable steering.

ケーシング４５の上方には、このケーシング４５を密封して覆うことができるシャーシ５４を備え、その上面に利用者が乗るゴム製の踏み台５５を備えている。このゴム製の踏み台５５内にはダイヤフラムスイッチを備え、利用者がこの上に乗るとスイッチがオンしてこの平行２輪形式のスクータが作動状態となり、降りるとオフして作動停止状態となるようにしている。この踏み台の高さは２０ｃｍ程度であり、広さは４８×６４ｃｍ程度である。   Above the casing 45, a chassis 54 capable of sealing and covering the casing 45 is provided, and a rubber platform 55 on which a user rides is provided on the upper surface. This rubber step 55 is provided with a diaphragm switch, which is turned on when the user gets on it, and the parallel two-wheeled scooter is activated, and is turned off when the user gets off. I have to. The height of this step is about 20 cm, and the width is about 48 × 64 cm.

また、図３（ａ）に示すようにステアリングロッド４４はハンドル５２の高さ調節のため伸縮自在とし、そのハンドル５２にキー６７及び表示部６８を設け、キー６７により盗難防止機能の他速度制限セット機能も備え、表示部６８においては装置のオンオフ状態、モード状態、バッテリ残量等を表示している。   Further, as shown in FIG. 3A, the steering rod 44 can be expanded and contracted to adjust the height of the handle 52, and a key 67 and a display unit 68 are provided on the handle 52. A set function is also provided, and the display unit 68 displays the on / off state of the apparatus, the mode state, the remaining battery level and the like.

このような構成をなす平行２輪形式のスクータの制御装置部分の構成については、図４に示すように左右の車輪４２、４３を駆動する左右のモータ４６、４７は制御装置６０内の左右の各モータ制御部６１、６２によってその駆動が制御される。制御装置６０には前記バランスセンサ５０におけるレートジャイロ６３及び傾斜センサ６４、更には踏み台５５の踏み台センサ６５の信号が入力し、またハンドル５２に設けた左右のグリップ５３における操行用のグリップ操作量センサ６６、６６の信号、及びキースイッチ６７の信号が入力し、各モータ制御部６１、６２に対する総合制御を行うとともに、表示部６８に対して表示信号を出力する。   As shown in FIG. 4, the left and right motors 46 and 47 for driving the left and right wheels 42 and 43 are connected to the left and right motors 46 and 47 in the control device 60 as shown in FIG. The driving of each motor control unit 61, 62 is controlled. The control device 60 receives signals from the rate gyro 63 and the tilt sensor 64 in the balance sensor 50, and further the signal from the step sensor 65 of the step platform 55, and the grip operation amount sensor for operating the left and right grips 53 provided on the handle 52. The signals 66 and 66 and the signal of the key switch 67 are input to perform overall control on the motor control units 61 and 62 and to output a display signal to the display unit 68.

上記のような構成をなす平行２輪形式のスクータにおいては、利用者がキー６７を操作して機器を作動状態にし、この台車４１における踏み台６５上に乗るとこのスクータのバランス制御等が作動状態となる。この状態ではレートジャイロと傾斜センサを備えたバランスセンサ５０により台車４１上の利用者を含んだ全体の重量バランスを検出し、また台車の傾斜を検出することにより車輪型倒立振り子の安定化制御法によって左右のモータ４６、４７の駆動制御を行い、自立状態を維持している。   In the parallel two-wheel type scooter configured as described above, when the user operates the key 67 to activate the device and rides on the platform 65 in the carriage 41, the balance control of the scooter is activated. It becomes. In this state, the balance sensor 50 including the rate gyro and the inclination sensor detects the overall weight balance including the user on the carriage 41, and detects the inclination of the carriage, thereby stabilizing the wheel-type inverted pendulum. Therefore, the left and right motors 46 and 47 are driven and maintained in an independent state.

また、台車４１上における利用者の前後方向の重心移動を検出し、その重心移動が所定以上の時には利用者がその方向に移動することを希望しているものとして、その移動の程度に合わせた車輪の回転数調節を行い、希望する速度での前後進を行うようにしている。更に、利用者はハンドル５２の両端に設けた左右のグリップ５３の回動を行うことにより、左右の車輪の回転数調節を行い、進行方向を調節するステアリング操作を行うことができるようにしている。   Further, the movement of the center of gravity of the user in the front-rear direction on the carriage 41 is detected, and when the movement of the center of gravity is greater than or equal to a predetermined value, the user desires to move in that direction, and the degree of movement is adjusted. The wheel speed is adjusted to move forward and backward at the desired speed. Further, the user can adjust the rotational speed of the left and right wheels by rotating the left and right grips 53 provided at both ends of the handle 52 so as to perform a steering operation for adjusting the traveling direction. .

上記のような作動を行わせるため、この装置においては図４に示すような制御システムを備え、その中心をなす制御装置６０には左右のモータ４６、４７の駆動を制御するモータ制御部６１、６２を備えている。この制御装置６０に対してバランスセンサ５０のレートジャイロ６３と傾斜センサ６４の信号を入力して車輪型倒立振り子の安定化制御法により自立制御を行う。また、踏み台センサ６５の信号を入力し、踏み台６５に利用者が乗ったか否かを検出する。また、前記傾斜センサ６４により前後方向の傾斜を検出して前後進制御を行い、ハンドル５２のグリップ操作量センサ６６の信号を入力して左右のモータの回転数、或いは回転方向を制御し操行制御を行う。更にハンドル５２上のキースイッチ６７の信号を入力し、更にハンドル５２に設けた表示部６８に必要な表示を行うことができるようにしている。なお、同軸二輪車における姿勢制御方法に関する技術として下記の特許文献が存在する。
特開昭６３−３０５０８２号公報 In order to perform the operation as described above, this apparatus is provided with a control system as shown in FIG. 4, and a central control device 60 includes a motor control unit 61 that controls driving of the left and right motors 46 and 47, 62. Signals from the rate gyro 63 and the tilt sensor 64 of the balance sensor 50 are input to the control device 60, and self-supporting control is performed by a stabilization control method for the wheel-type inverted pendulum. In addition, a signal from the step sensor 65 is input to detect whether or not a user has got on the step 65. Further, the tilt sensor 64 detects the tilt in the front-rear direction and performs the forward-reverse control, and inputs the signal of the grip operation amount sensor 66 of the handle 52 to control the rotation speed or the rotation direction of the left and right motors to control the operation. I do. Further, a signal of a key switch 67 on the handle 52 is inputted, and a necessary display can be performed on a display unit 68 provided on the handle 52. In addition, the following patent documents exist as a technique regarding the attitude | position control method in a coaxial two-wheeled vehicle.
JP 63-305082 A

従来の平行２輪乗用台車としての平行２輪形式のスクータにおいては図３に示すように、台車４１からステアリングロッド４４を突出させ、その上端部に設けたハンドル５２の片端部にグリップ５３を設け、このグリップ５３を独立して回動操作することにより左右の車輪用モータの回転速度を調節してステアリングを行っている。   As shown in FIG. 3, in a conventional parallel two-wheeled scooter as a parallel two-wheeled carriage, a steering rod 44 is projected from the carriage 41, and a grip 53 is provided at one end of a handle 52 provided at the upper end thereof. The grip 53 is rotated independently to adjust the rotational speed of the left and right wheel motors for steering.

そのため、比較的身長が低い人でもまた高い人でも、台車４１上に立った利用者が容易にこのステアリング操作を行うことができるように、ハンドル５２を比較的低い位置から高位置迄延ばすことができるように、ステアリングロッド４４を伸縮自在にしておく必要がある。   Therefore, the handle 52 can be extended from a relatively low position to a high position so that a user standing on the carriage 41 can easily perform this steering operation, regardless of whether the person is relatively short or tall. It is necessary to make the steering rod 44 extendable so as to be able to do so.

したがってハンドル部分をできる限り軽量化するためにアルミニウム合金を用いたとしても、身長の高い人に合わせてステアリングロッドを構成し、更にハンドルを備えるため、全体の重量は重くならざるを得ない。また、このようなハンドルを台車上に設けると、全体が嵩張らざるを得ず、前記のような重量の増大と相まって、この平行２輪乗用台車の持ち運びが困難となり、例えば電車等への持ち込み、走行路上の段差部分でのも持ち上げ、階段の上り下りに際しての持ち運び、収納等が不便であり、特に女性や子供等の力の弱い人にはその取り扱いは困難とならざるを得ない。   Therefore, even if an aluminum alloy is used to reduce the weight of the handle portion as much as possible, the steering rod is configured for a tall person and the handle is further provided, so the overall weight must be increased. In addition, when such a handle is provided on the carriage, the whole must be bulky, and coupled with the increase in weight as described above, it becomes difficult to carry this parallel two-wheeled carriage, for example, bringing it into a train, It is inconvenient to lift even at the stepped portion on the road, carry around when going up and down the stairs, store, etc., and handling is especially difficult for weak people such as women and children.

更に、上記従来の平行２輪乗用台車においては、グリップ５３によって操行制御を行っているため、操行方向の調節時には少なくとも片手でグリップを操作する必要があり、例えば両手に荷物を持っている時には操作できず、また片手に荷物を持っているときも適切な操行調節をすることが困難になるという問題もある。   Further, in the above conventional parallel two-wheeled carriage, since the operation is controlled by the grip 53, it is necessary to operate the grip with at least one hand when adjusting the operation direction. In addition, there is a problem that it is difficult to properly adjust the operation even when carrying a baggage in one hand.

したがって本発明は、ハンドルを設けることなく、利用者の意志に沿って操行方向を自由に制御することができるようにした平行２輪乗用台車を提供することを主たる目的とする。   Therefore, a main object of the present invention is to provide a parallel two-wheeled carriage that can freely control the operation direction in accordance with the user's intention without providing a handle.

本発明は上記課題を解決するため、請求項１に係る発明は、左右に平行な車輪を備えた基台と、前記基台上における前記左右の車輪の間に配置され、左右方向に揺動自在に設けた搭乗台と、前記左右の車輪を独立して駆動するモータ及びモータ回転角度を検出する回転角度センサと、基台の前後方向のバランスを検出する基台傾斜角センサ、基台傾斜角速度センサと、搭乗台の基台に対する左右方向の相対角度を検出する搭乗台傾斜検出手段と、少なくとも前記センサの信号により前記モータの回転を制御する制御装置とを備え、前記制御装置は前記信号により乗用台車のバランス制御を行い、基台の前後方向の傾斜角度により前後進を、また搭乗台の基台に対する左右方向の相対角度により操行方向を各々制御することを特徴とする平行２輪乗用台車としたものである。 Since the present invention is to solve the above problems, the invention according to claim 1 includes a base having a parallel wheels to the right and left, is arranged between the left and right wheels definitive on the base, in the lateral direction rocking A boarding table provided movably, a motor that independently drives the left and right wheels, a rotation angle sensor that detects a motor rotation angle, a base tilt angle sensor that detects a balance in the front-rear direction of the base, and a base An inclination angular velocity sensor; boarding board inclination detecting means for detecting a relative angle in the left-right direction with respect to the board base; and a control device for controlling rotation of the motor by at least a signal of the sensor, The parallel control is performed by controlling the balance of the passenger carriage by the signal, controlling the forward / rearward movement by the inclination angle of the base in the front-rear direction, and controlling the operation direction by the relative angle in the horizontal direction with respect to the base of the boarding base It is obtained by a passenger truck.

また、請求項２に係る発明は、前記搭乗台傾斜検出手段は、搭乗台に設けた搭乗台傾斜センサと当該搭乗台傾斜センサに対応して基台に設けた基台傾斜センサの信号により検出するものであることを特徴とする請求項１記載の平行２輪乗用台車としたものである。   According to a second aspect of the present invention, the boarding tilt detecting means is detected by a boarding tilt sensor provided on the boarding board and a signal from a base tilt sensor provided on the base corresponding to the boarding tilt sensor. The parallel two-wheeled carriage according to claim 1, wherein:

また、請求項３に係る発明は、前記搭乗台傾斜検出手段は、基台に対して搭乗台を左右方向に傾斜自在に支持する傾動支持部の回転角度を検出するものであることを特徴とする請求項１記載の平行２輪乗用台車としたものである。   Further, the invention according to claim 3 is characterized in that the boarding board inclination detecting means detects a rotation angle of a tilting support part that supports the boarding board so as to be tiltable in the left-right direction with respect to the base. The parallel two-wheeled carriage according to claim 1 is provided.

本発明は上記のように構成したので、従来のもののような搭乗台車から突出するハンドルを設ける必要がなく、小型軽量化することができ、路面の段差、或いは階段において、更には電車においてこれを持ち運ぶことが容易となり、使用しやすい平行２輪乗用台車とすることができる。また従来のもののような左右のグリップの回転操作により操行調整を行う必要がなくなり、操行方向を利用者の体重移動によって制御することができるので、両手に荷物を持って移動することも可能となり、特に手の不自由な人でも容易に利用可能となる。_   Since the present invention is configured as described above, it is not necessary to provide a handle that protrudes from a boarding carriage like the conventional one, and it can be reduced in size and weight, and this can be achieved on a road step or staircase, and further on a train. It is easy to carry and can be used as a parallel two-wheel passenger cart that is easy to use. In addition, it is no longer necessary to adjust the operation by rotating the left and right grips like the conventional one, and the operation direction can be controlled by the user's weight movement, so it is also possible to move with both hands on the luggage, In particular, it can be easily used even by a handicapped person. _

本発明は、ハンドルを設けることなく、利用者の意志に沿って操行方向を自由に制御することができるようにした平行２輪乗用台車とするため、左右に平行な車輪を備えた基台と、前記基台上に左右方向に揺動自在に設けた搭乗台と、前記左右の車輪を独立して駆動するモータ及びモータ回転角度を検出する回転角度センサと、基台のバランスを検出する傾斜角度センサ、傾斜角速度センサと、搭乗台の基台に対する左右方向の相対角度を検出する搭乗台傾斜検出手段と、少なくとも前記センサの信号により前記モータの回転を制御する制御装置とを備え、前記制御装置は前記信号により乗用台車のバランス制御を行い、基台の前後方向の傾斜角度により前後進を、また搭乗台の基台に対する左右方向の相対角度により操行方向を各々制御する。   The present invention provides a parallel two-wheel passenger carriage that can freely control the direction of operation according to the user's will without providing a handle. A boarding base provided on the base so as to be swingable in the left-right direction, a motor for independently driving the left and right wheels, a rotation angle sensor for detecting a motor rotation angle, and an inclination for detecting a balance of the base An angle sensor, an inclination angular velocity sensor, a boarding board inclination detecting means for detecting a relative angle in the left-right direction with respect to the base of the boarding board, and a control device for controlling the rotation of the motor based on at least a signal of the sensor; The device controls the balance of the passenger car based on the signals, controls the forward / backward movement based on the inclination angle of the base in the front-rear direction, and controls the steering direction based on the relative angle in the left-right direction with respect to the base of the boarding base. .

本発明の実施例を図面に沿って説明する。図１には本発明による平行２輪乗用台車１を示しており、その概要は同図（ａ）に示すように前記図３に示す従来の平行２輪乗用台車からステアリングロッド４４、及びハンドル５２並びにその片端に設けたグリップ５３を取り除いた構成をなしている。即ち、図１（ａ）に示す平行２輪乗用台車１は前記従来例と同様に台車２の左右両側に互いに平行な車輪３、４を回転自在に配置し、後述するように各々対応するモータによって互いに独立して回転可能としている。台車１上部には利用者がその上に立って乗る搭乗台５を備え、また図示の例においては前記図３に示す従来のものと同様にキースイッチ６、表示部７を備えている。   Embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows a parallel two-wheeled carriage 1 according to the present invention. As shown in FIG. 1A, the outline thereof is changed from the conventional parallel two-wheeled carriage shown in FIG. 3 to a steering rod 44 and a handle 52. In addition, the grip 53 provided at one end thereof is removed. That is, the parallel two-wheel passenger carriage 1 shown in FIG. 1 (a) has wheels 3 and 4 parallel to each other on both the left and right sides of the carriage 2 in the same manner as the conventional example, and motors corresponding to each other as will be described later. Can be rotated independently of each other. An upper portion of the carriage 1 is provided with a boarding platform 5 on which a user stands and rides. In the illustrated example, a key switch 6 and a display unit 7 are provided as in the conventional example shown in FIG.

この平行２輪乗用台車１は図１（ｂ）の概略構成を示す断面図に示すように、台車２については主要構成部材を備える基台８と、その上に載置する搭乗台５とからなり、搭乗台５は図示実施例においては基台８の傾動支持部１０により、基台８に対して左右方向に自由に傾動可能に支持されている。   As shown in the cross-sectional view of the schematic configuration of FIG. 1B, the parallel two-wheeled carriage 1 includes a base 8 provided with main constituent members and a boarding base 5 placed thereon. Thus, in the illustrated embodiment, the boarding base 5 is supported by the tilting support portion 10 of the base 8 so as to be freely tiltable in the left-right direction with respect to the base 8.

また、この搭乗台５と基台８との間には、前記傾動支持部１０を中心としてその前後左右部分にスプリング１１を設けており、それにより搭乗台５上に乗った利用者の体重が左右方向に移動するとき、搭乗台５がそれに対応して左右に傾斜可能としている。   In addition, springs 11 are provided between the boarding base 5 and the base 8 at the front, rear, left and right portions with the tilting support portion 10 as the center, so that the weight of the user riding on the boarding base 5 can be reduced. When moving in the left-right direction, the boarding platform 5 can be tilted to the left and right correspondingly.

更にこの搭乗台５の下面には、前記スプリング１１と同様に、傾動支持部１０を中心として左右位置に搭乗台傾斜センサ１３を設け、基台８の上面にはその搭乗台傾斜センサ１３に対応した位置に基台傾斜センサ１４を設けている。この両傾斜センサの信号によって、搭乗台５の基台８に対する相対的な傾斜角度を左右方向に対応して検出することができるようにしている。   Further, on the lower surface of the board 5, similarly to the spring 11, a boarding table tilt sensor 13 is provided at the left and right positions around the tilting support portion 10, and the upper surface of the base 8 corresponds to the boarding table tilt sensor 13. A base tilt sensor 14 is provided at the position. The relative inclination angle of the boarding base 5 with respect to the base 8 can be detected in correspondence with the left and right directions by the signals of both the inclination sensors.

基台８にはその左右両側にモータ１５、１６を備え、各モータによって左右の車輪３、４を互いに独立して回転可能としている。図示実施例においては各モータ１５、１６に各々回転角度センサ２２、２３を設け、モータの回転角度、即ちこのモータにより図示されない減速機を介して駆動される車輪３及び車輪４の回転角度を検出可能としている。また、図示実施例においては基台８の下方にバッテリ１７を搭載しており、また上方には回路基板１８を備えている。更に図示実施例においては基台８の空所にレートジャイロ２０、基台傾斜センサ２１を設け、このレートジャイロ２０、基台傾斜センサ２１、モータ回転角度センサ２２、２３からの信号を回路基板１８の制御回路で処理し、車輪型倒立振り子の安定化制御法による前記従来のものと同様の作動により、この平行２輪乗用台車１を自立可能としている。   The base 8 is provided with motors 15 and 16 on the left and right sides thereof, and the left and right wheels 3 and 4 can be rotated independently of each other by each motor. In the illustrated embodiment, each of the motors 15 and 16 is provided with a rotation angle sensor 22 and 23 to detect the rotation angle of the motor, that is, the rotation angle of the wheel 3 and the wheel 4 driven by the motor via a speed reducer (not shown). It is possible. In the illustrated embodiment, a battery 17 is mounted below the base 8 and a circuit board 18 is provided above. Further, in the illustrated embodiment, a rate gyro 20 and a base tilt sensor 21 are provided in the space of the base 8, and signals from the rate gyro 20, the base tilt sensor 21, and the motor rotation angle sensors 22 and 23 are sent to the circuit board 18. The parallel two-wheeled carriage 1 can be made self-supporting by the same operation as the above-mentioned conventional one by the stabilization control method of the wheel type inverted pendulum.

上記のような構成からなる図示実施例の平行２輪乗用台車１においては、前記のような種々のセンサの信号を入力し所定の作動を行うものであるが、その際には例えば図２に示すような制御システムによって作動させることができる。即ち、制御装置２５には制御装置全体の統合制御を行うソフトウエアで作動するシステム制御部２６を備え、搭乗台５に対して前記のように左右位置に設けた搭乗台傾斜センサ１３の各センサ信号を入力し、基台８に対して同様に前後左右位置に設けた基台傾斜センサ１４の各センサ信号を入力している。更に基台８内に設けたレートジャイロ２０、及び基台傾斜センサ２１の信号、キースイッチ６の信号、モータ１５の回転を検出するモータ回転角度センサ２２、及びモータ１６の回転を検出するモータ回転角度センサ２３の信号を入力している。   In the parallel two-wheeled carriage 1 of the illustrated embodiment having the above-described configuration, the signals of the various sensors as described above are input and a predetermined operation is performed. It can be activated by a control system as shown. That is, the control device 25 includes a system control unit 26 that is operated by software for performing integrated control of the entire control device, and each sensor of the boarding tilt sensor 13 provided at the left and right positions as described above with respect to the boarding table 5. A signal is input, and each sensor signal of the base tilt sensor 14 provided at the front, rear, left, and right positions is similarly input to the base 8. Further, the signal of the rate gyro 20 and the base tilt sensor 21 provided in the base 8, the signal of the key switch 6, the motor rotation angle sensor 22 that detects the rotation of the motor 15, and the motor rotation that detects the rotation of the motor 16. A signal from the angle sensor 23 is input.

制御装置２５には、特にレートジャイロ２０、基台傾斜センサ２１の信号により乗用台車の自立制御を行うバランス制御部２８、特に基台傾斜センサ２１の信号により車両の前後進を制御する前後進制御部２７、特に搭乗台傾斜センサ１３の左右方向の信号と基台傾斜センサ１４の左右方向の信号とにより車両の進行方向制御する操行制御部２９、及びモータ１５の回転数、回転方向を制御するモータ制御部３０、同様にモータ１６の回転数、回転方向を制御するモータ制御部３１を備えている。また、制御装置２５にはキースイッチ６の信号を入力し、表示部７に対して必要な表示信号を出力している。   The control device 25 includes a rate control gyro 20 and a balance control unit 28 for performing independent control of the passenger car based on signals from the base tilt sensor 21, and particularly a forward / backward control for controlling forward / backward movement of the vehicle based on signals from the base tilt sensor 21. 27, in particular, an operation control unit 29 for controlling the traveling direction of the vehicle, and the number of rotations and the direction of rotation of the motor 15 are controlled by the lateral signal of the boarding tilt sensor 13 and the lateral signal of the base tilt sensor 14. The motor control unit 30 is similarly provided with a motor control unit 31 that controls the rotation speed and rotation direction of the motor 16. Further, a signal of the key switch 6 is input to the control device 25 and a necessary display signal is output to the display unit 7.

本発明による平行２輪乗用台車は上記のような構成、及び制御システムを採用することにより、搭乗台５の踏み台９に乗った利用者が前後方向に所定以上の重心移動を行うときには、前後方向に関しては、基台傾斜センサ２１の信号とシステム制御部２６により推定される前後方向の重心移動状態を検出し、前後進制御部２７がその傾斜の程度に比例して左右のモータ１５、１６を同方向に回転させ、前後進の制御を行う。   The parallel two-wheeled carriage according to the present invention employs the above-described configuration and control system, so that when the user who has stepped on the platform 9 of the boarding platform 5 moves the center of gravity more than a predetermined direction in the longitudinal direction, the longitudinal direction , The signal of the base tilt sensor 21 and the state of movement of the center of gravity in the front-rear direction estimated by the system control unit 26 are detected, and the forward-reverse control unit 27 switches the left and right motors 15, 16 in proportion to the degree of the tilt. Rotate in the same direction and perform forward / reverse control.

また、搭乗台５の踏み台９に乗った利用者が左右方向に所定以上の重心移動を行うときには、左右方向に配置した搭乗台傾斜センサ１３の信号と基台傾斜センサ１４の信号により、利用者の上記の体重移動状態を検出し、操行制御部２９がその傾斜の程度に比例して左右のモータ１５、１６を異なる方向、或いは異なる速度で回転させ、進行方向の制御を行う。なお、上記踏み台には、前記従来のものと同様にダイアフラムスイッチ等を用いてもよい。   Further, when the user who has stepped on the platform 9 of the boarding platform 5 moves the center of gravity more than a predetermined amount in the left-right direction, the user uses the signal from the boarding tilt sensor 13 and the signal from the base tilt sensor 14 arranged in the left-right direction. The operation control unit 29 controls the traveling direction by rotating the left and right motors 15 and 16 at different directions or at different speeds in proportion to the degree of the inclination. In addition, you may use a diaphragm switch etc. for the said step board like the said conventional thing.

本発明は上記のような実施例の他、例えば傾斜センサを傾動支持部１０に設け、この傾動支持部１０の傾斜角度を検出するセンサを用いてもよく、その際には基台８に対する搭乗台５の相対角度を直接検出する等、種々の態様で実施することができる。   In addition to the above-described embodiments, the present invention may use, for example, a sensor that detects a tilt angle of the tilt support portion 10 by providing a tilt sensor on the tilt support portion 10. The present invention can be implemented in various modes such as directly detecting the relative angle of the table 5.

本発明による平行２輪乗用台車は、特に携帯用台車として適するものであるが、より大型の台車にも適用でき、更に同様の技術を車輪走行可能な２足２輪ロボット等のロボットに対しても適用することができる。   The parallel two-wheeled carriage according to the present invention is particularly suitable as a portable carriage, but can also be applied to a larger carriage, and the same technology can be applied to a robot such as a two-legged two-wheel robot capable of running on wheels. Can also be applied.

本発明の実施例を示し、（ａ）はその斜視図であり、（ｂ）はその概要構成を示す断面図である。The Example of this invention is shown, (a) is the perspective view, (b) is sectional drawing which shows the outline | summary structure. 同実施例の制御システム構成図である。It is a control system block diagram of the Example. 従来例を示し、（ａ）はその斜視図であり、（ｂ）は台車部分の分解斜視図である。A conventional example is shown, (a) is a perspective view thereof, and (b) is an exploded perspective view of a carriage part. 従来例の制御システム構成図である。It is a control system block diagram of a prior art example.

符号の説明Explanation of symbols

１ 平行２輪乗用台車
２ 台車
３、４ 車輪
５ 搭乗台
６ キースイッチ
７ 表示部
８ 基台
９ 踏み台
１０ 傾動支持部
１１ スプリング
１３ 搭乗台傾斜センサ（左右方向）
１４ 基台傾斜センサ（左右方向）
１５、１６ モータ
１７ バッテリ
１８ 回路基板
２０ レートジャイロ（前後方向）
２１ 基台傾斜センサ（前後方向）
２２、２３ モータ回転角度センサ DESCRIPTION OF SYMBOLS 1 Parallel 2-wheel passenger cart 2 Bogie 3, 4 Wheel 5 Boarding board 6 Key switch 7 Display part 8 Base 9 Stepping board 10 Tilt support part 11 Spring 13 Boarding board inclination sensor (left-right direction)
14 Base tilt sensor (left-right direction)
15, 16 Motor 17 Battery 18 Circuit board 20 Rate gyro (front-rear direction)
21 Base tilt sensor (back and forth direction)
22, 23 Motor rotation angle sensor

Claims (3)

左右に平行な車輪を備えた基台と、
前記基台上における前記左右の車輪の間に配置され、左右方向に揺動自在に設けた搭乗台と、
前記左右の車輪を独立して駆動するモータ及びモータ回転角度を検出する回転角度センサと、
基台の前後方向のバランスを検出する基台傾斜角センサ、基台傾斜角速度センサと、
搭乗台の基台に対する左右方向の相対角度を検出する搭乗台傾斜検出手段と、
少なくとも前記センサの信号により前記モータの回転を制御する制御装置とを備え、
前記制御装置は前記信号により乗用台車のバランス制御を行い、基台の前後方向の傾斜角度により前後進を、また搭乗台の基台に対する左右方向の相対角度により操行方向を各々制御することを特徴とする平行２輪乗用台車。
A base with wheels parallel to the left and right;
Is disposed between the left and right wheels definitive on said base, a boarding platform provided swingably in the left-right direction,
A motor that independently drives the left and right wheels, and a rotation angle sensor that detects a motor rotation angle;
A base tilt angle sensor, a base tilt angular velocity sensor that detects a balance in the longitudinal direction of the base ,
Boarding board inclination detecting means for detecting a relative angle in the left-right direction with respect to the base of the boarding board;
A control device for controlling rotation of the motor by at least the signal of the sensor,
The control device performs balance control of the passenger carriage based on the signal, and controls forward and backward movement based on a tilt angle in the front-rear direction of the base, and controls a steering direction based on a relative angle in the left-right direction with respect to the base of the boarding base. A parallel two-wheeled carriage.
前記搭乗台傾斜検出手段は、搭乗台に設けた搭乗台傾斜センサと当該搭乗台傾斜センサに対応して基台に設けた基台傾斜センサの信号により検出するものであることを特徴とする請求項１記載の平行２輪乗用台車。   The boarding board inclination detecting means detects a boarding board inclination sensor provided on the boarding board and a signal from a base board inclination sensor provided on the base corresponding to the boarding board inclination sensor. Item 2. A parallel two-wheeled carriage according to item 1. 前記搭乗台傾斜検出手段は、基台に対して搭乗台を左右方向に傾斜自在に支持する傾動支持部の回転角度を検出するものであることを特徴とする請求項１記載の平行２輪乗用台車。
2. The parallel two-wheel riding system according to claim 1, wherein the boarding tilt detection means detects a rotation angle of a tilting support portion that tilts the boarding base in a left-right direction with respect to a base. Trolley.
JP2003323980A 2003-09-17 2003-09-17 Parallel two-wheel passenger cart Expired - Lifetime JP3981733B2 (en)

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