JP2004243845A - Moving vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a moving vehicle which is equipped with a fall preventive function and is easy of handling. <P>SOLUTION: This moving vehicle is equipped with spherical wheels 2. The moving vehicle performs a posture control by using a gyroscope while running, and holds a stable posture by grounding a stand 10 when being stopped. Thus, the moving vehicle for which a possibility for fall is reduced, and of which the handling is simple can be realized. Also, not only the moving vehicle equipped with the spherical wheels 2, but also regarding a moving vehicle for which the grounding points of a plurality of wheels are arranged on an approximate straight line as well, a possibility for fall is reduced by providing the stand 10, and the simple handling becomes possible. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a moving vehicle provided with wheels.
[0002]
[Prior art]
To date, various types of vehicles have been developed and put into practical use. The demands on vehicles are endless and change every day as technology advances and social environment fluctuates. In recent years, a personal vehicle that allows a user to ride in an upright state has been proposed (for example, see Patent Literature 1).
[0003]
[Patent Document 1]
International Publication No. 00/75001 pamphlet
[Problems to be solved by the invention]
For example, if there is a moving vehicle that can freely travel in a narrow space such as in a house, it is conceivable that everyday life will be very comfortable. For that purpose, it is preferable that the handling of the moving vehicle is easy not only when the vehicle is on, but also when the vehicle is not on. Patent Literature 1 discloses a method of controlling the output of a running vehicle and the like, but does not consider the function of the vehicle when the vehicle is stopped or the like. The present invention has been made in view of such a situation, and an object of the present invention is to provide a mobile vehicle that can be easily handled by a user.
[0005]
[Means for Solving the Problems]
In order to solve the above-described problems, one embodiment of the present invention provides a moving vehicle in which a single grounding point is provided for wheels, or where the grounding points of a plurality of wheels are arranged substantially on a straight line. The moving vehicle includes a detecting unit that detects a state of the moving vehicle, a posture holding unit that holds a posture of the moving vehicle by touching the ground, and a posture holding unit based on the state of the moving vehicle detected by the detecting unit. Control means for grounding. The moving vehicle may include spherical wheels. The mobile vehicle of this aspect can maintain an unstable posture in a stable state by grounding the posture holding means. Therefore, the possibility of falling is reduced, and a mobile vehicle that is easy to handle can be realized.
[0006]
In the mobile vehicle according to this aspect, when the detection unit detects the stop of the mobile vehicle, the control unit may ground the attitude holding unit and hold the attitude of the mobile vehicle. For example, when the power for driving the moving vehicle is turned off, such as turning off an ignition switch, the stopping of the moving vehicle may be detected. Further, when the detecting means detects an error of the starting system or the driving system of the moving vehicle, the control means may ground the posture holding means to hold the posture of the moving vehicle. For example, if the function or configuration necessary to drive the mobile vehicle does not operate due to a failure or the like even though the ignition switch is on, an error in the activation system may be detected. Even if attitude control is performed using a gyro so that the vehicle does not fall down while running, the attitude control using the gyro cannot be performed when the mobile vehicle stops or an error occurs in the start-up system. Thus, the posture of the moving vehicle can be stably held, and the falling of the moving vehicle can be prevented. Further, for example, when the remaining amount of the driving energy becomes low during traveling, an error of the driving system may be detected. An error in the drive system is detected in a state in which the moving vehicle has trouble keeping running. The posture holding means may include a stand for grounding, and a driving means for moving the stand between the storage position and the ground position.
[0007]
Another aspect of the present invention is a mobile vehicle capable of traveling so as not to overturn by attitude control using a gyro, and moving by landing when the vehicle is stopped or when an error occurs in a starting system or a driving system. Provided is a mobile vehicle including a posture holding unit that holds a posture of the vehicle. Since the attitude control using the gyro cannot be performed when the mobile vehicle stops or an error occurs in the activation system, the attitude of the mobile vehicle can be stably maintained by grounding the attitude holding means. In addition, when an error occurs in the drive system, it is difficult to run smoothly. Therefore, by grounding the attitude holding means, the attitude of the mobile vehicle can be stably held.
[0008]
BEST MODE FOR CARRYING OUT THE INVENTION
FIG. 1 is a diagram showing a configuration of a mobile vehicle 1 according to an embodiment of the present invention. The mobile vehicle 1 includes a spherical wheel 2 formed in a spherical shape, a base 3 that rotatably supports the spherical wheel 2, a chair 4 provided on the base 3, and an operation for a user to give a traveling instruction to the mobile vehicle 1. A stick 5 is provided. The movement of the operation stick 5 is transmitted to an electronic control unit (hereinafter, referred to as “ECU”) as a traveling instruction. The user determines the rotation speed and direction of the spherical wheel 2 by operating the operation stick 5 and causes the mobile vehicle 1 to travel. Since the moving vehicle 1 is driven by one spherical wheel 2, it can change directions freely and can travel freely even in a small space. Further, the mobile vehicle 1 can travel so as not to overturn by the attitude control using the gyro. The posture control during traveling may use a known method.
[0009]
FIG. 2A is a diagram illustrating a part of a cross-sectional configuration of the mobile vehicle 1. The spherical wheel 2 is rotatably supported on the base 3 by a ball bearing 8. The base 3 holds the whole of the spherical wheel 2 from the surroundings. A part of the outer peripheral surface of the wheel drive mechanism 6 is pressed against the spherical wheel 2. The wheel drive mechanism 6 is a hydraulic motor or an electric motor that can be driven to rotate, and transmits a rotational force to the spherical wheel 2 at a contact portion with the spherical wheel 2 to rotate the spherical wheel 2. The rotation speed of the spherical wheel 2, that is, the traveling speed of the mobile vehicle 1 is determined according to the rotation speed of the wheel drive mechanism 6. The wheel drive mechanism 6 is rotatably supported by a support member 7 about a vertical direction as a center axis. By rotating the support member 7 about the center in the vertical direction, the wheel drive mechanism 6 rotates. Thereby, the direction of transmission of the rotational force of the wheel drive mechanism 6 changes, and the rotational direction of the spherical wheel 2, that is, the traveling direction of the mobile vehicle 1 is determined. Drive instructions for the wheel drive mechanism 6 and the support member 7 are supplied by an ECU that has received a travel instruction from a user.
[0010]
The mobile vehicle 1 houses a fall prevention stand 10 in a hole 9 provided in the base 3. The stand 10 is configured to move between a storage position in which the lowermost portion is above the bottom surface of the base 3 and a ground contact position in contact with the ground. FIG. 2A shows a state in which the mobile vehicle 1 is traveling and the stand 10 is in the storage position.
[0011]
FIG. 2B shows a state where the mobile vehicle 1 is stopped and the stand 10 is at the ground contact position. The mobile vehicle 1 is in contact with the ground by one spherical wheel 2 and has a very unstable attitude because the attitude control using the gyro cannot be used when the vehicle is stopped. Therefore, the mobile vehicle 1 is maintained in a stable posture by moving the stand 10 from the storage position to the ground position. This prevents the vehicle from overturning and makes it possible to realize the mobile vehicle 1 that can be easily handled even when the vehicle is stopped. When the number of the spherical wheels 2 is one, the mobile vehicle 1 preferably has at least two stands 10, and may have three or more stands 10. The plurality of stands 10 are preferably arranged on the base 3 in a well-balanced manner in consideration of the weight of the chair 4 and the like.
[0012]
FIG. 3 shows a configuration for the mobile vehicle 1 to maintain a posture. A stand 10, a stand locking solenoid 11, a spring body 12, a spring body 13, a cable 14, and a winding motor 15 are provided as posture holding means for holding the posture of the mobile vehicle 1. FIG. 3 shows a state where the stand 10 is grounded.
[0013]
The stand 10 is urged by a spring body 13 in a direction toward the ground contact position. The upper end of the stand 10 is supported by one end of a cable 14 wound by a winding motor 15. The spring body 13 and the winding motor 15 function as driving means for the stand 10. The solenoid 11 has a function of locking the stand 10 by fitting the shaft 11b into a recess provided in the stand 10. The shaft 11b is urged by the spring body 12 in a direction toward the stand 10. The ECU 20 controls operations of the solenoid 11 and the winding motor 15.
[0014]
While the mobile vehicle 1 is traveling, the stand 10 is in the storage position, and the lowermost part of the stand 10 is located above the bottom surface of the base 3. When the moving vehicle 1 stops, the ECU 20 supplies electric power to the coil 11a of the solenoid 11, and moves the shaft 11b away from the recess of the stand 10. When the lock of the solenoid 11 is released, the stand 10 is pushed out of the hole 9 by the urging force of the spring body 13 and comes into contact with the ground. Thereafter, the ECU 20 stops supplying power to the coil 11a, and the shaft 11b is fitted into the recess of the stand 10. Thereby, the mobile vehicle 1 can maintain a stable posture.
[0015]
On the other hand, immediately before the moving vehicle 1 starts moving, the ECU 20 supplies electric power to the winding motor 15, winds up the cable 14, and pulls the stand 10 upward. At the same time, the ECU 20 supplies electric power to the coil 11a of the solenoid 11, and releases the fitting between the shaft 11b and the recess of the stand 10. When the stand 10 reaches the storage position, the ECU 20 stops supplying power to the coil 11a, and the shaft 11b is fitted into the recess of the stand 10. After locking the stand 10, the ECU 20 stops supplying power to the winding motor 15.
[0016]
FIG. 4 shows an example of an operation control flow of the stand 10. In the operation control of the stand 10, the ECU 20 functions as detecting means for detecting the state of the mobile vehicle 1, and also functions as control means for controlling the attitude holding means based on the detected state.
[0017]
First, the ECU 20 detects whether or not the ignition switch has been turned off from on (S10). When the ignition switch is turned off by the user (Y in S10), the ECU 20 supplies power to the coil 11a of the solenoid 11, releases the lock of the stand 10, and grounds the stand 10 (S14). Subsequently, the ECU 20 stops supplying power to the coil 11a and locks the stand 10 (S16).
[0018]
On the other hand, under conditions other than when the ignition switch is turned off from on by the user (N in S10), it is detected whether or not an error has occurred in the activation system of the mobile vehicle 1 (S12). The activation system means a configuration that contributes to activation of the mobile vehicle 1. The ECU 20 may determine the presence or absence of an error in the activation system based on, for example, a failure diagnosis result or a fuel remaining amount detection result. If the startup process has failed (Y in S12), the ECU 20 grounds the stand 10 (S14) and locks the stand 10 at the grounding position (S16). On the other hand, if the activation process is successful (N in S12), the ECU 20 ends the operation control flow of the stand 10.
[0019]
FIG. 5 shows another example of the operation control flow of the stand 10. When the mobile vehicle 1 is not running (N in S20), the operation control flow in this example is not executed. While the mobile vehicle 1 is traveling (Y in S20), the ECU 20 determines whether an error has occurred in the drive system (S22). The drive system means a configuration that contributes to the traveling of the mobile vehicle 1. The ECU 20 detects a state in which there is an obstacle or a possibility that the traveling of the mobile vehicle 1 may be continued, for example, when a trouble occurs in the drive system or when the remaining amount of the drive energy is low. Then, it is determined that an error has occurred in the drive system. If it is determined that an error has occurred in the drive system (Y in S22), the ECU 20 supplies power to the coil 11a of the solenoid 11, releases the lock of the stand 10, and grounds the stand 10 (S24). Subsequently, the ECU 20 stops supplying power to the coil 11a and locks the stand 10 (S26). When it is determined that no error has occurred in the drive system (N in S22), the ECU 20 ends the operation control flow of the stand 10.
[0020]
FIG. 6 is a diagram illustrating a configuration of a modified example of the moving vehicle. The moving vehicle 30 includes two wheels 31, a wheel 32, a base 33, and a handle 34. The base 33 rotatably supports the wheels 31 and 32. The user drives the mobile vehicle 30 while standing upright on the upper surface of the base 33. The handle 34 plays a role similar to that of the operation stick 5 in FIG. 1, and the user operates the handle 34 to determine the rotation speed of the wheels 31 and 32 and causes the mobile vehicle 30 to travel. The mobile vehicle 30 can run so as not to overturn by the attitude control using the gyro. The mobile vehicle 30 has a plurality of posture holding means shown in FIG. 3, similarly to the mobile vehicle 1 in FIG. Accordingly, even when the moving vehicle 30 stops or the start-up process fails, the posture of the moving vehicle 30 can be stably held and the fall can be prevented by grounding the plurality of stands 10.
[0021]
FIG. 7 is a diagram showing a configuration of a further modified example of the moving vehicle. The moving vehicle 40 includes one wheel 41, a base 42, and a handle 43. The base 42 rotatably supports the wheels 41. The user causes the mobile vehicle 40 to travel while standing upright on the upper surface of the base 42. The handle 43 plays a role similar to that of the operation stick 5 in FIG. 1, and the user operates the handle 43 to determine the rotation speed of the wheels 41 and causes the mobile vehicle 40 to travel. The mobile vehicle 40 can run so as not to overturn by posture control using a gyro. The mobile vehicle 40 has a plurality of posture holding means shown in FIG. 3, similarly to the mobile vehicle 1 in FIG. Accordingly, even when the moving vehicle 40 stops or when the start-up process fails, the plurality of stands 10 are grounded, so that the posture of the moving vehicle 40 can be stably maintained and fall can be prevented.
[0022]
The present invention has been described based on the embodiments. Note that the present invention is not limited to this embodiment, and various modifications thereof are also effective as aspects of the present invention. The mobile vehicle of the present invention is preferably formed compactly as a vehicle for one person, but may be a vehicle that can be carried by a plurality of people. In addition, the case where the moving vehicle has spherical wheels and the case where one or two wheels are provided have been described. However, the posture holding means is a moving vehicle having a single point of contact with the wheels regardless of the shape of the wheels. Alternatively, the present invention can be used for a moving vehicle in which the grounding points of all the wheels are arranged substantially on a straight line. For example, the posture holding means can be used for a moving vehicle in which the grounding points of three wheels are arranged substantially on a straight line. The posture holding means described in the present embodiment can be effectively used for a moving vehicle having an unstable posture when stopped.
[0023]
【The invention's effect】
ADVANTAGE OF THE INVENTION According to this invention, the attitude | position control using a gyro is provided by providing the attitude | position holding | maintenance means to the moving vehicle which makes the grounding point of a wheel one point, or the mobile vehicle in which the grounding points of several wheels are located in a substantially straight line. Even when it is not possible, a stable state can be maintained and a fall can be prevented.
[Brief description of the drawings]
FIG. 1 is a diagram showing a configuration of a mobile vehicle according to an embodiment.
FIG. 2A is a diagram illustrating a state where a stand of a mobile vehicle is at a storage position, and FIG. 2B is a diagram illustrating a state where the stand of the mobile vehicle is at a ground contact position.
FIG. 3 is a diagram illustrating a configuration for holding a posture of a moving vehicle.
FIG. 4 is a diagram showing an example of a stand operation control flow.
FIG. 5 is a diagram showing another example of the stand operation control flow.
FIG. 6 is a diagram showing a configuration of a modified example of a moving vehicle.
FIG. 7 is a diagram showing a configuration of a further modified example of the moving vehicle.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Moving vehicle, 2 ... Spherical wheel, 3 ... Base, 4 ... Chair, 5 ... Operation stick, 6 ... Wheel drive mechanism, 7 ... Support member, 8 ..Ball bearing, 9 ... hole, 10 ... stand, 11a ... coil, 11b ... shaft, 11 ... solenoid, 12, 13 ... spring body, 14 ... cable , 15 ... winding motor, 20 ... ECU, 30, 40 ... moving vehicle, 31, 32, 41 ... wheels, 33, 42 ... base, 34, 43 ... handle.

Claims (6)

A vehicle in which the grounding points of the wheels are one point, or the grounding points of a plurality of wheels are arranged on a substantially straight line,
Detecting means for detecting a state of the moving vehicle;
Attitude holding means for holding the attitude of the moving vehicle by grounding,
Control means for grounding the attitude holding means based on a state of the moving vehicle detected by the detection means;
A mobile vehicle comprising: The mobile vehicle according to claim 1, wherein the mobile vehicle includes spherical wheels. 3. The mobile vehicle according to claim 1, wherein when the detection unit detects the stop of the mobile vehicle, the control unit grounds the posture holding unit and holds the posture of the mobile vehicle. 4. . 2. The method according to claim 1, wherein when the detecting unit detects an error in the starting system or the driving system of the moving vehicle, the control unit grounds the posture holding unit and holds the posture of the moving vehicle. 3. The moving vehicle according to 2. The mobile vehicle according to any one of claims 1 to 4, wherein the posture holding unit includes a stand for grounding, and a driving unit for moving the stand between a storage position and a ground position. . A mobile vehicle that can travel so as not to fall down by attitude control using a gyro, and that holds the attitude of the mobile vehicle by touching the ground when stopped or when an error occurs in an activation system or a drive system. A mobile vehicle comprising a holding means.

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