JP2006053731A - Attitude holding/turnover prevention device for mobile body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an attitude holding/turnover prevention device capable of providing a turnover preventive effect for a mobile body moving in at least one direction regardless of irregularities of a road surface, and never disturbing the movement of the mobile body in a state where the mobile body has no danger of turnover. <P>SOLUTION: This device comprises an inclination sensor 105 detecting the inclination to a horizontal plane of the mobile body 101 moving in at least one direction and the direction of the inclination; a support member 107 protruding from the mobile body 101 to the road surface to support the mobile body 101; and a determination device comparing the inclination obtained by the sensor 105 with a reference value to determine the operation of a linearly moving actuator 106. When the mobile body 101 is inclined, the inclination is immediately detected, and the support member 107 is extended to prevent the turnover thereof. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a posture maintaining / falling prevention device for a moving body having a moving ability in at least one direction.

  As a device for maintaining the posture of the moving body and preventing the vehicle from falling, a device provided with a driven wheel at the edge of the moving body is known (for example, see Patent Document 1). FIG. 10 shows the apparatus, in which 12a is a drive wheel and 16 is a driven wheel. The driven wheel 16 is a free wheel provided with a free swing mechanism, and prevents the moving body from overturning by supporting the moving body at the edge of the moving body.

In addition, an outrigger device may be attached for the purpose of maintaining the posture of the moving body and preventing overturning (see, for example, Patent Document 2). FIG. 11 shows the outrigger device. The outrigger device is a traveling work vehicle that works especially at the construction site of a building, etc., and prevents the vehicle from falling by supporting the vehicle body by projecting the support member to the side of the vehicle body during work, and pushing the support member into the vehicle body side during traveling. This keeps the area occupied by the vehicle body small.
In FIG. 11, the first arm 22, the second arm 25, the third arm 30, the caster 27, and the third arm and the first arm are linearly locked to prevent the mobile body 1 from toppling over. The outrigger device is constituted by the mechanism 36 for unlocking.
During normal running, the outrigger device is stored as shown by the one-dot chain line A in FIG. 11, and during the operation, the outrigger device is deployed as shown by B to lock the first arm 22 and the third arm 30 to the lock mechanism 36. In this way, the movable body 50 is supported by being linearly locked.

FIG. 12 shows another example of the outrigger device (see Utility Model Document 1).
In FIG. 12, 1 is a mobile body, 2 is an acceleration sensor, 5 is a hydraulic motor, and 6 is an outrigger. When the lateral acceleration detected value by the acceleration sensor 2 exceeds the reference value due to an abrupt steering operation, the outrigger 6 is extended by the hydraulic motor 5 in the direction in which the acceleration is generated, and the caster 5a is brought into contact with the road surface to support the moving body 1. Thus, it is intended to prevent sideways falling.
Japanese Patent Laid-Open No. 5-69795 (FIG. 1 (FIG. 10 of the present application drawing)) JP-A-4-342645 (FIG. 4 (FIG. 11 of the present application drawing)) Japanese Utility Model Publication No. 5-75297 (FIG. 1 (FIG. 12 of the present application drawing))

  In a conventional posture maintenance / falling prevention device using a driven wheel as shown in FIG. 10, in order to effectively prevent the fall, the contact point with the road surface of the driven wheel is as far as possible from the center of gravity position of the moving body. Further, it has been necessary to install the driven wheels so that each driven wheel and the driving wheel are in contact with the road surface so that the support polygon is as large as possible. This is because the risk of falling is high when the center of gravity of the moving body is close to the outer edge of the support polygon. Therefore, there is a problem that the moving body carriage portion for installing the driven wheel has to be taken larger than the moving body main body, which is disadvantageous particularly for movement on a narrow passage. Furthermore, when the road surface is uneven, the driven wheel becomes an obstacle to travel.

  In the conventional outrigger device as shown in FIG. 11, the time when the supporting member is extended is limited to the time of construction work or the like. For this reason, a general moving body has a problem that it cannot cope with a fall risk caused by road surface unevenness during traveling.

In the invention described in the utility model document 1 as shown in FIG. 12, a fall prevention device is disclosed that projects the support member only when there is a danger of fall by the acceleration sensor. There is a problem that the possibility of falling in any direction cannot be detected.
In addition, since there is no means for knowing the contact state of the support member with the road surface, there is also a problem that the moving body cannot be supported well when there are large irregularities on the road surface. For example, when there is a depression on the road surface as shown in FIG. 13, the tip of the outrigger 6 does not come into contact with the ground, so that the moving body cannot be prevented from falling.
Furthermore, when the risk of falling is eliminated after the device has been operated and the outrigger has been extended, it is desirable to store the outrigger so that it does not become an obstacle during movement. However, criteria for storing the outrigger are defined. There is also a problem that it is not possible to automate the storing operation of the support member.

  SUMMARY OF THE INVENTION An object of the present invention is to solve the above-described problems and to provide a posture holding / falling prevention device that can be widely applied to a general moving body having a moving ability in at least one direction on a road surface.

In order to solve the above problems, the present invention is configured as follows.
The invention according to claim 1 is mounted on a moving body having a moving capability in at least one direction, and the inclination angle of the moving body with respect to a horizontal plane and the direction of the inclination with respect to the one direction. A detection device; a support member that projects from the moving body to a road surface and supports the moving body; a support member drive device that drives the support member; and the support member drive that compares the obtained inclination angle with a reference value And a determination device that determines the operation of the device.

  The invention according to claim 2 is characterized in that, in the determination device, when the output of the tilt angle detection device is below a reference value (a), the support member is stored.

  According to a third aspect of the present invention, in the determination apparatus, the output of the tilt angle detection device exceeds another reference value (b) corresponding to a larger tilt angle than the reference value (a) of the second aspect. The support member is continuously driven downward until the output of the tilt angle detecting device falls below the reference value (b).

  According to a fourth aspect of the present invention, in the determination device, when the output of the tilt angle detection device is not more than the reference value (a) and not less than the reference value (b), the support member is It is characterized by being fixed.

  According to a fifth aspect of the present invention, at least one of the tilt angle detection device, the support member, the support member driving device, and the determination device is collected and attached to the movable body freely. It is characterized in that it constitutes a posture holding / falling prevention unit.

  According to a sixth aspect of the present invention, in the posture maintaining / falling prevention unit, the tilt angle detecting device is arranged such that the direction of the detection shaft of the tilt angle detecting device is a direction perpendicular to the direction in which the support member is projected. It is characterized by installation.

  According to the seventh aspect of the present invention, in the posture holding / falling prevention device, only the inclination angle detection device is provided inside the moving body, and the output of the inclination angle detection device can be shared and used by each determination device. It is characterized by.

  The invention according to claim 8 is characterized in that the determination apparatus includes a plurality of determination circuits that simultaneously compare an inclination angle in at least one direction with a plurality of reference values.

  The invention according to claim 9 is characterized in that the support member is installed such that the direction of movement thereof coincides with the normal direction of the support polygon of the moving body.

  According to a tenth aspect of the present invention, the support member and the support member driving device are installed at positions symmetrical with respect to the vertical center axis of the moving body.

  According to an eleventh aspect of the present invention, the support member is constituted by a parallel link, and the support member drive device is constituted by a motor and a motor drive circuit.

  The invention according to claim 12 is characterized in that, in the determination device, when it is predicted in advance that the risk of falling of the moving body is increased, the support member is projected regardless of the output of the tilt angle detection device. It is.

  According to a thirteenth aspect of the present invention, in the support member, the installation position of the support member is on a perpendicular bisector of each side of the support polygon of the mobile object. To do.

  The invention as set forth in claim 14 is characterized in that the angle of the support member projecting toward the road surface is made close to vertical.

  According to the first aspect of the present invention, the current state of the moving body can be known by the tilt angle detection device, and the support member is appropriately extended or stored according to the state of the moving body by the determination device and the driving device. It becomes possible to do. If the support member is stored according to the state of the moving body, the area occupied by the moving body on the road surface can be reduced, and the support member can be prevented from obstructing the traveling. Further, the amount of protrusion of the support member can be changed according to the state, and the support state can be adjusted.

  According to the second aspect of the present invention, it is possible to automatically store the support member when there is no danger of falling after the operation of the apparatus, so that it does not become an obstacle during traveling.

  According to the third aspect of the present invention, the support member can be reliably extended until the support member comes into contact with the road surface and the posture of the moving body is reestablished, and the posture can be maintained and the fall prevention can be performed regardless of the unevenness of the road surface. it can.

  According to the fourth aspect of the present invention, it is possible to reliably hold the posture of the moving body and prevent the fall until the danger of the fall is eliminated.

  According to the fifth aspect of the present invention, it is possible to provide a movable body posture holding / falling prevention mechanism that can easily add a posture holding / falling prevention function simply by attaching a unit to the moving body. It is also easy to increase or decrease the number of units as necessary.

  According to the sixth aspect of the invention, since the inclination angle of the moving body detected by the inclination angle detecting device matches the direction in which the moving body moves by driving the support member, the attitude of the moving body is surely achieved. Holding / falling prevention effect is obtained.

  According to the invention of claim 7, the mobile body posture holding / falling prevention device according to claim 1 can be configured with only a minimum number of inclination angle detection devices necessary to know the inclination angle of the mobile body, The number of parts can be reduced.

  According to the eighth aspect of the present invention, it is possible to reliably drive a plurality of support member driving devices by simple comparison operations without performing complicated calculations. Moreover, it is not necessary to install a plurality of determination devices, and the number of parts can be reduced.

  According to the ninth aspect of the present invention, the support member can be projected in a direction in which the risk of falling is high, and the effect of maintaining the posture and preventing falling can be enhanced.

  According to the tenth aspect of the present invention, it is possible to provide a mobile body posture maintaining / falling prevention device that effectively prevents the fall in any direction.

  According to the eleventh aspect of the present invention, it is possible to provide a posture maintaining / falling prevention device for a moving body that has an extremely small occupied space at the time of storage and exhibits a high posture holding / falling preventing effect when projecting.

  According to the twelfth aspect of the present invention, it is possible to reliably maintain the posture of the moving body and prevent the overturn even in a situation where the risk of the overturn is high.

  According to the thirteenth aspect of the present invention, it is possible to easily determine the installation position of the support member that can exhibit a high posture maintaining / falling prevention effect during the operation of the support member.

  According to the invention described in claim 14, the angle of the support member protruding toward the road surface is made substantially perpendicular to that of the conventional device, which is 30 ° to 60 ° with respect to the road surface. As a result, it is possible to prevent falling even when passing through a narrow passage.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 shows the configuration of an omnidirectional mobile robot according to the first embodiment. FIG. 2 is a view of the omnidirectional mobile robot of FIG. 1 as viewed from below. FIG. 3 is a diagram for enlarging a portion corresponding to the dotted line in FIG. 1 and explaining its operation. FIG. 8 shows the configuration of the determination apparatus in this embodiment. FIG. 9 shows the operation of the support member corresponding to the determination flow in the determination apparatus.
In FIG. 1, 101 is an omnidirectional mobile robot, 102 is an omnidirectional cart, 103 is an omni wheel, 104 is a motor, 105 is a tilt angle sensor, 106 is a linear actuator, 107 is a support member, 108 is a ball caster, 109 is In FIG. 3, the corresponding part 110 is a robot arm.
The omnidirectional mobile robot 101 can be moved in all directions by the omnidirectional mobile carriage 102 in the front-rear direction, the left-right direction, and the rotational direction. In the omnidirectional mobile carriage 102, there are three pairs of omnifoils 103 and motors 104, which are arranged at regular triangle positions as shown in FIG. It is known that omnidirectional movement is possible by appropriately driving an omni foil with a motor.

The linear actuator 106 and the support member 107 are arranged as shown in FIG. In the figure, 201 is a support polygon constituted by omni foil. When the center of gravity of the moving body deviates from the support polygon 201, the vehicle falls over, so that the newly formed support polygon can be as large as possible by installing the support member 107, and the moving body can be moved from each side of the support polygon. The support member 107 is installed so that the distance to the center of gravity is as far as possible. That is, the support member 107 is installed so that the projecting direction of the support member 107 and the normal direction of each side of the support polygon 201 coincide with each other and on the perpendicular bisector of each side of the support polygon 201.
In the first embodiment, since the support polygon 201 is an equilateral triangle, the number of support members 107 is three in total. Since this installation method is a guideline for easily obtaining a high posture retention / falling prevention effect, if it is structurally difficult to attach a support member according to this installation method, the extension direction and support of the support member as much as possible What is necessary is just to install so that the normal line direction of each side of a polygon may approach, and it may approach on the perpendicular bisector of each side of a support polygon.
Further, when the strength of the support member 107 and the force of the linear motion actuator 106 are insufficient to support the omnidirectional mobile robot 101, the number of the support members 107 may be increased. Conversely, the support member 107 does not have to be installed in a direction where it can be determined that the possibility of falling is low.

  In order to measure the inclination angle in the direction in which each support member 107 protrudes, an inclination angle sensor 105 is arranged in the vicinity of the support member 107 so that the inclination in the direction in which each support member 107 protrudes can be detected. . That is, the tilt angle sensor 105 is installed so that the direction of the detection axis of the tilt angle sensor 105 is perpendicular to the direction in which the support member 107 projects. For example, in FIG. 3, since the support member 107 supports the robot when it tilts in the direction of the fall 321, the tilt angle sensor 105 can measure the tilt angle in the direction of the fall direction 321, that is, perpendicular to the paper surface. It is installed so that the inclination angle around the proper axis can be measured.

A determination device 417 (FIG. 4) is incorporated in the robot body 101. An input signal of the determination device 417 is an output signal of the tilt angle sensor 105, and an output signal of the determination device 417 is a linear motion actuator 106 (FIGS. 1 to 3). ) Drive signal.
The determination device 417 is configured as shown in FIG.
In the figure, an inclination angle sensor 901 outputs an analog voltage that increases or decreases according to angle information, converts the analog voltage into digital angle information by an AD converter 902, and reads out from the angle information obtained by AD conversion and the memory 904. The reference value is compared by the microcomputer 903, and the operation command of the support member driving device is output based on the result.

  FIG. 9 shows the flow of determination with respect to the output value of the tilt angle sensor 105 input to the determination device 417 and the operation of the support member corresponding thereto. If the tilt angle is less than the reference value (b) in step S1, the support member is stored. If the tilt angle is larger than (a) in step S2, the support member is extended, and otherwise the support member is fixed.

  The linear actuator 106 (FIG. 3) moves the support member 107 (FIG. 3) up and down in accordance with the output of the determination device 417 (FIG. 8). Here, the linear actuator 106 uses a combination of a ball screw mechanism and a servo motor, but of course it is not limited to this, and any actuator that can perform a linear motion may be used. The configuration is not particularly limited. For example, the linear actuator 106 may be a linear motor, a pneumatic cylinder, or a hydraulic cylinder, or may be configured with a rack-pinion mechanism and a servo motor.

  A ball caster 108 is provided at the tip of the support member 107. This may be anything as long as it reduces the friction with the road surface when grounded, and a general swing-type caster 16 used in the conventional apparatus of FIG. 10 may be used.

As described above, the part where the present invention is different from Patent Document 2 is a part that includes a tilt angle sensor and a determination device, and includes a linear actuator and a support member that can be driven by the determination device.
Further, the present invention differs from Utility Model Reference 1 in that it includes an inclination angle sensor and a determination device so that the operation amount of the support member can be adjusted according to the size of the inclination angle, and the support member is installed in various directions. It was something that could be done.

Next, the operation of the first embodiment will be described with reference to FIG.
In the figure, if the omnidirectional mobile robot 101 hits a step during the movement and tilts as shown in the right from the upright state in the left of the figure, the output value of the tilt angle sensor 105 increases. The output value of the inclination angle sensor 105 and the reference value (a) are compared by the determination device 417 (FIGS. 4 and 8), and when the output value of the inclination angle sensor 105 is larger (S2 in FIG. 9), it is promptly performed. The linear actuator 106 is driven in the direction of 323, and the support member 107 is projected downward. The reaction force that presses the support member 107 against the road surface prevents the moving body from overturning, and the inclination angle of the moving body moves in a direction 322 that decreases. Since there is a ball caster 108 at the tip of the support member 107, the movement of the tip of the support member 107 and the road surface is not hindered.

  If the linear actuator 106 continues to be driven, the tilt of the omnidirectional mobile robot 101 decreases, and eventually the output value of the tilt angle sensor 105 becomes equal to or less than the reference value (a). The moving actuator 106 is stopped. As a result, the tilt angle of the omnidirectional mobile robot 101 becomes smaller than the tilt angle corresponding to the reference value (a), and posture maintenance and fall prevention are realized.

Thereafter, when the robot further moves away from the step and the inclination angle further decreases and falls below the reference value (b), the linear motion actuator 106 is driven by the action of the determination device 417, and the support member 107 is lifted and stored.
As a result, when the tilt angle of the robot is less than (b) (S1 in FIG. 9), the support member 107 is always in the retracted state, and the support member 107 does not hinder the movement during movement, such as being caught by a step. .
In this way, if the configuration as in the first embodiment is adopted, the entire occupied space does not change even if the support member 107 protrudes, so that it does not interfere with surrounding obstacles when the support member extends even in a narrow place.

  If the tilt angle sensor 105, the determination device 417, the linear motion actuator, and the support member 107 are combined into a posture holding / falling prevention unit, the necessary number of the movable body can be attached to the necessary portion, which is convenient. .

  In addition, when it is known that the possibility of falling is increased in advance, such as when a robot lifts and operates a heavy object, the support is extended without waiting for the drive signal of the determination device 417 (FIG. 8). By doing so, it is possible to reliably obtain the posture maintaining / falling prevention effect.

Next, the configuration of the second embodiment of the present invention is shown in FIG.
In the figure, 411 is a mobile robot, 412 is a mobile carriage, 413 is a drive wheel, 414 is a caster, 415 is a motor, 416 is a biaxial tilt angle sensor 105, 417 is a determination device 417, 418 is a communication line, and a dotted line 419 is FIG. , 420 is a display, and 421 is a speaker.
FIG. 5 is a view of the mobile robot of FIG. 4 as viewed from below. In the figure, a dotted line 501 indicates a support polygon composed of drive wheels and casters.
FIG. 6 is a diagram for explaining in detail the configuration within the dotted line 419 in FIG.
In the figure, 601 is a motor, 602 is a parallel link, 603 is a support link, 604 is a driven joint, and 605 is a caster. FIG. 7 shows an operation when the mobile robot is tilted in the direction of 610 in FIG. In the figure, reference numeral 711 denotes a motor operation direction, 712 denotes a support link operation direction, and 713 denotes a direction in which the mobile robot returns from falling.

  The mobile robot 411 includes an environmental map and an obstacle detection sensor, and provides various information to a human through the display 420 and the speaker 421 while moving indoors. In order to operate in a narrow environment, the mobile robot is elongated in the vertical direction, resulting in an unstable structure with a high center of gravity. For convenience of explanation, the right side of the page is defined as the forward direction of the mobile robot, the left side of the page is defined as the backward direction of the mobile robot, and the direction perpendicular to the page is defined as the left-right direction of the mobile robot. The movable carriage 412 includes casters 414 at four corners, and a pair of drive wheels 413 provided symmetrically separately from the casters 414 is driven by a motor 415 to move in the environment. The moving direction of the mobile robot can be changed by adjusting the rotational speeds of the two drive wheels.

A two-axis tilt angle sensor 416 is fixed inside the mobile robot so that the front / rear / left / right tilt angles of the mobile robot can be measured. Further, the determination device 417 is fixed inside the mobile robot, and the output of the biaxial tilt angle sensor 416 is used as the input. The output of the determination device 417 is connected to the motor 601. The end of one parallel link 602 is fixed to the output shaft of the motor 601. Each link and the outer wall of the mobile robot are connected by a driven joint 604 so that a closed link mechanism is configured by the parallel link, the support link 603, and the outer wall of the mobile robot. A caster 605 having a free swing mechanism is attached to the tip of the support link 603. The motor 601, the parallel link 602, and the support link 603 are arranged so that the extending direction of the support link is perpendicular to each side of the support polygon 501 composed of the drive wheels 413 and the casters 414. Install so that it is on the vertical bisector.
In this second embodiment, since the support polygon is substantially rectangular, a total of four support members are installed on the vertical bisector of each side.

Next, the operation of the second embodiment will be described with reference to FIGS.
When the robot receives some force during movement and tilts in the direction of the fall 610 (FIG. 6), the output value around the corresponding axis of the biaxial tilt angle sensor 416 (FIG. 4) increases. The output value around the corresponding axis of the biaxial tilt angle sensor 416 and the reference value (a) are compared by the determination device 417. When the output value of the biaxial tilt angle sensor 405 exceeds the reference value, the motor 601 is moved to the motor 601. Driving in the operation direction 711, the support link 603 projects in the support link operation direction 712 through the parallel link 602. The reaction force pressing the support link 603 against the road surface prevents the mobile robot from falling, and the mobile robot moves in the return direction 713 opposite to the fall direction 610. If the motor 601 continues to be driven, the output value of the biaxial tilt angle sensor 105416 will eventually fall below the reference value, so that it is detected by the determination device 417 and the motor 601 is stopped. As a result, the inclination angle of the moving body in the direction in which the support link 603 projects is smaller than the inclination angle corresponding to the reference value (a), and the posture of the moving body can be maintained and the fall can be prevented.

Thereafter, when the tilt angle of the robot further decreases and falls below the reference value (b), the motor 601 is driven in the direction opposite to the motor operation direction 711 by the function of the determination device 417, and the support link is moved to the support link operation direction 712. Move in the opposite direction and store. As a result, when the robot tilt angle is less than (b), the support member is always retracted, and the movement is not hindered by the support member being caught by a step during movement.
With the configuration as in this embodiment, since the support link 712 is usually stored so as to stick to the side surface of the mobile robot 401, the space can be used effectively. On the contrary, since the contact point when the support member is extended can be further away from the robot body as compared with the occupied space at the time of storage, a high posture retention / falling prevention effect can be obtained.

With the configuration and means as described above, it is possible to prevent the mobile body from tilting due to an increase in tilt. When the inclination angle of the moving body is small and there is no danger of falling, the support member is far away from the road surface, so that the movement is not hindered.
Since the support member is driven based on the inclination angle, the moving body can be effectively prevented from falling over regardless of the road surface inclination or unevenness, and no unnecessary driving force is generated.

  The apparatus for maintaining the posture of a moving body and preventing overturning according to the present invention can be widely applied to general moving bodies that may fall over while moving.

It is a figure of the omnidirectional mobile robot provided with the attitude | position holding | maintenance / fall prevention apparatus which shows 1st Example of this invention. It is the figure which looked at the omnidirectional mobile robot provided with the attitude | position holding | maintenance / fall prevention apparatus which shows 1st Example from the downward direction. It is an enlarged view of the applicable part in FIG. 1 which shows operation | movement of 1st Example. It is a figure of the mobile robot provided with the attitude | position holding | maintenance / fall prevention apparatus which shows 2nd Example of this invention. It is the figure which looked at the mobile robot provided with the attitude | position holding | maintenance / fall prevention apparatus which shows 2nd Example from the downward direction. It is an enlarged view of the applicable part in FIG. 4 which shows the structure of 2nd Example. It is an enlarged view of the applicable part in FIG. 4 which shows operation | movement of 2nd Example. It is the figure which showed the structural example of the determination apparatus in this invention. It is the figure which showed the flow of determination of the determination apparatus in this invention, and corresponding operation | movement. It is the figure which showed the fall prevention measure by the driven wheel of the prior art 1. FIG. It is the figure which showed the fall prevention apparatus by the outrigger of the prior art 2. FIG. It is the figure which showed the fall prevention apparatus by the outrigger of the prior art 3. FIG. It is the figure which showed the problem of the apparatus of FIG.

Explanation of symbols

101 Omni-directional mobile robot 102 Omni-directional mobile trolley 103 Driving wheel (omni foil)
104 Motor 105 Tilt angle sensor 105
106 linear motion actuator 107 support member 108 ball caster 109 FIG. 3 corresponding portion 110 robot arm 201 support polygon 321 fall direction 322 fall return direction 323 linear motion actuator operation direction 411 mobile robot 412 moving carriage 413 drive wheel 414 caster 415 motor 416 2 Shaft angle sensor 105
417 determination device 417
418 Communication line 419 FIG. 6 corresponding part 420 Display 421 Speaker 501 Support polygon 601 Motor 602 Parallel link 603 Support link 604 Driven joint 605 Castor 610 Overturn direction 711 Motor operation direction 712 Support link operation direction 713 Return direction

Claims (14)

An inclination angle detection device for detecting an inclination of the moving body with respect to a horizontal plane and the direction of the inclination with respect to the one direction;
A support member that projects from the moving body to the road surface and supports the moving body;
A support member driving device for driving the support member;
A determination device that determines the operation of the support member driving device by comparing the obtained inclination angle with a reference value;
An apparatus for maintaining the posture of a moving body and preventing overturning.   The said determination member WHEREIN: When the output of the said inclination-angle detection apparatus is less than the reference value equivalent to the angle smaller than the said reference value (a), the said supporting member is stored. The posture maintenance and fall prevention device of the moving body.   In the determination device, when the output of the tilt angle detection device exceeds a reference value (b) corresponding to a tilt angle larger than the reference value (a), the output of the tilt angle detection device is the reference value ( 3. The posture maintaining / falling prevention device for a moving body according to claim 1 or 2, wherein the supporting member is continuously driven downward until it falls below b).   The said determination apparatus WHEREIN: When the output of the said inclination-angle detection apparatus is below the said reference value (a) and more than the said reference value (b), the said supporting member is fixed, The said supporting member is fixed. 3. A posture maintaining / falling prevention device for a moving body according to 3.   At least one of the tilt angle detection device, the support member, the support member driving device, and the determination device is integrated into a unit so that the posture can be freely attached to the movable body and the fall prevention is performed. The apparatus for maintaining a posture of a moving body and preventing overturning according to claim 1, comprising a unit.   The tilt angle detection device is installed in the posture holding / falling prevention unit so that a direction of a detection axis of the tilt angle detection device is a direction perpendicular to a direction in which the support member is projected. 5. A posture maintaining / falling prevention device for a moving body according to 5.   7. The posture holding / falling prevention device according to claim 5, wherein only the inclination angle detection device is provided inside the moving body so that the output of the inclination angle detection device can be shared and used by each determination device. The mobile body posture maintenance / falling prevention device described.   The posture determination / moving body according to any one of claims 5 to 7, wherein the determination device includes a plurality of determination circuits that simultaneously compare an inclination angle in at least one direction with a plurality of reference values. Fall prevention device.   The posture of the moving body according to any one of claims 5 to 8, wherein the support member is installed so that the direction of movement thereof coincides with a normal direction of a support polygon of the moving body. Fall prevention device.   The apparatus for holding and preventing overturning of the moving body according to any one of claims 5 to 9, wherein the supporting member and the supporting member driving device are installed at positions symmetrical with respect to the vertical center axis of the moving body.   The posture support / falling prevention of the movable body according to any one of claims 5 to 10, wherein the support member is configured by a parallel link, and the support member drive device is configured by a motor and a motor drive circuit. apparatus.   In the determination apparatus, the support member can be manually extended when it is predicted in advance that the risk of falling of the moving body is increased regardless of the output of the inclination angle detection apparatus. The mobile body posture maintaining / falling prevention device according to any one of 5 to 11.   In the said supporting member, the installation position is made into the perpendicular bisector of each edge | side of the support polygon of a moving body, The attitude | position holding | maintenance of a moving body and fall of any one of Claims 5-12 characterized by the above-mentioned. Prevention device.   14. The angle of projecting toward the road surface of the support member is substantially perpendicular to the conventional apparatus, which is close to 45 degrees with respect to the road surface. 4. A device for maintaining the posture of the moving body and preventing overturning.

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