JP2009184673A - Travelling vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a traveling vehicle having an occupant riding part to be controlled to an arbitrary posture. <P>SOLUTION: The traveling vehicle 1 has a vehicle body 2, a wheel 5 rotatably supported by the vehicle body 2 and arranged on one axis, and the occupant riding part 3 supported by the vehicle body 2 on which an occupant M rides, and also has an operation means 123 operated by the crew member. In accordance with the operation of the operation means 123, the occupant riding part 3 is relatively displaced with respect to the vehicle body 2 in the forward direction of the vehicle body 2. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a traveling vehicle in which a posture of a passenger of a vehicle having wheels arranged on one axis can be freely changed.

  Conventionally, as a saddle mounted on a carriage having two wheels arranged on the left and right, a movable permanent magnet to which a passenger's load is applied, and a repulsive magnetic pole are arranged opposite to the movable permanent magnet and the carriage There is a vehicle apparatus having a structure in which a movable permanent magnet is levitated from a fixed permanent magnet for levitating by a magnetic spring composed of a movable permanent magnet and a levitating fixed permanent magnet. (Patent Document 1).

  FIGS. 13A and 13B are conceptual diagrams showing states of the traveling vehicle 1 and the occupant M during conventional acceleration. In the figure, 1 is a traveling vehicle, 2 is a vehicle body, 3 is a seat as an example of mounting means, 4 is an axle, 5 is a wheel, G1 is the center of gravity of the whole, G2 is the center of gravity of the occupant, g is gravity, and Fi is inertial force. , Ff is a forward force, V is a vertical axis, E is a balance axis, B is a vehicle body axis, S is a boarding axis, and P is a grounding point.

  In FIG. 13A, a traveling vehicle 1 is a vehicle in which an axle 4 and wheels 5 are connected to a vehicle body 2 and a seat 3 is placed thereon. When the traveling vehicle 1 accelerates, an inertial force Fi acts on the vehicle body 2 and the occupant M. Therefore, if the vehicle 1 is accelerated as it is, the vehicle body 2 and the occupant M fall backward due to the influence of the inertial force Fi. Therefore, it is necessary to place the entire center of gravity G1 on the balance axis E to prevent overturning.

  Next, FIG. 14A and FIG. 14B are views showing the state of the traveling vehicle 1 and the occupant M during the conventional turning. In the figure, 1 is a traveling vehicle, 2 is a vehicle body, 3 is a seat as an example of mounting means, 4 is an axle, 5 is a wheel, G1 is the center of gravity of the whole, G2 is the center of gravity of the occupant, g is gravity, Fc is centrifugal force , V is a vertical axis, E is a balance axis, B is a vehicle body axis, S is a riding axis, and T is a tread.

  In FIG. 14A, a traveling vehicle 1 is a vehicle in which an axle 4 and wheels 5 are connected to a vehicle body 2 and a seat 3 is placed thereon. When the traveling vehicle 1 turns, the centrifugal force Fc acts on the vehicle body 2 and the occupant M. Therefore, if the vehicle 1 is accelerated as it is, the vehicle body 2 and the occupant M fall outside due to the influence of the centrifugal force Fc. Therefore, by tilting the vehicle body 2 inwardly from the vertical axis V and placing the entire center of gravity G1 on the balance axis E, it is necessary to prevent overturning and maintain balance.

JP 2005-145296 A

  However, as shown in FIG. 13 (b), when the vehicle body 2 is tilted forward more than the balance axis E and kept in balance, a forward force Ff acts on the occupant. In this case, although the vehicle is accelerating, the forward force Ff is felt, and the forward force Ff is unnatural for the occupant.

  Moreover, the state of the passenger | crew M at the time of turning becomes like FIG.14 (b). The center of gravity G2 of the occupant is located outside the tread T when the vehicle body 2 is inclined more inward than the vertical axis V, and may be in contact with an obstacle. In addition, the occupant's field of view is inclined, or the occupant's sense of turning is dull, which may affect operations such as speed and steering.

  This invention solves the said subject, Comprising: It aims at providing the traveling vehicle which controls a passenger | crew mounting part to arbitrary attitude | positions.

  To this end, the present invention relates to a traveling vehicle having a vehicle body, a wheel rotatably supported on the vehicle body and arranged on one axis, and an occupant mounting portion that supports the vehicle body and mounts the occupant. And an occupant mounting portion is moved relative to the vehicle body in the advancing direction of the vehicle body in response to an operation of the operation device.

  Further, the occupant mounting portion moves parallel to the vehicle body.

  Accordingly, the present invention provides a traveling vehicle having a vehicle body, a wheel rotatably supported on the vehicle body and disposed on one axis, and an occupant mounting portion that supports the vehicle body and mounts the occupant. An operating means for operating, and in response to the operation of the operating means, the occupant mounting portion is moved relative to the vehicle body in the traveling direction of the vehicle body, so that the acceleration experienced by the passenger is controlled by the operating means. Thus, it is possible to arbitrarily set the position, and it is possible to smoothly move the occupant and to freely set the position of the occupant.

  Moreover, since the said passenger | crew mounting part moves in parallel with respect to the said vehicle body, it becomes possible to move with a simple structure.

Conceptual diagram of the first embodiment Conceptual diagram of the first embodiment The figure which shows the control system structure of 1st embodiment. The figure which shows the control flowchart of 1st embodiment. The figure which shows the 1st Example of 1st embodiment. The figure which shows the 1st Example of 1st embodiment. The figure which shows the 2nd Example of 1st embodiment. The figure which shows the 2nd Example of 1st embodiment. The figure which shows the 3rd Example of 1st embodiment. The figure which shows the 3rd Example of 1st embodiment. The figure which shows the 4th Example of 1st embodiment. The figure which shows the 4th Example of 1st embodiment. Diagram showing conventional technology Diagram showing conventional technology

DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, an exemplary embodiment of the invention will be described with reference to the drawings.
FIG. 1 or FIG. 2 is a conceptual diagram of this embodiment. FIG. 1 is a diagram illustrating a state of an occupant after control during acceleration according to the present embodiment, and FIG. 2 is a diagram illustrating a state of the occupant after control during turning according to the present embodiment. The same reference numerals as those shown in FIGS. 13 and 14 which are conventional techniques are used for the reference numerals in the figure.

  In this case, the traveling vehicle 1 includes an angular velocity meter 121 and an accelerometer 122 as examples of a vehicle body posture detection unit that detects the posture of the vehicle body, and a vehicle body posture control unit that controls the vehicle body posture detected by the angular velocity meter 121 and the accelerometer 122. 120 is controlled to be able to run. The seat posture control unit 130 as an example of the occupant posture control unit includes an inclination angle detected by the seat relative inclination angle measurement device 131 as an example of the occupant posture detection unit, a vehicle body posture detected by the vehicle body posture detection unit 120, In particular, the posture of the seat 3 as an example of the occupant mounting portion is controlled in response to the acceleration / deceleration detected by the accelerometer 120 or the operation of the operation means 123 such as a joystick.

  FIG. 1 is a diagram illustrating a state of the occupant M after control during acceleration. In the figure, 1 is a traveling vehicle, 2 is a vehicle body, 3 is a seat as an example of an occupant mounting portion, G2 is the center of gravity of the occupant, E is a balance axis, B is a vehicle body axis, and S is a boarding axis. As shown in FIG. 1, the seat is inclined backward so that the boarding axis S has the same inclination angle as the equilibrium axis E.

  By controlling in this way, inertia force is not applied to the occupant M, and it feels like a stationary state. Further, if the seat 3 is controlled to be tilted further rearward, a backward force can be felt and acceleration can be experienced. That is, by changing the posture of the seat 3 of the occupant M, when the acceleration of the traveling vehicle 1 changes, the occupant M can be moved smoothly and the posture of the occupant M can be freely set. It is possible to arbitrarily set the acceleration experienced by the occupant M.

  FIG. 2 shows the state of the occupant M after control during turning. The seat 3 is rotated to the side, and the vehicle body axis B is controlled so that the posture of the occupant M is in the vertical direction when viewed from the front.

  By controlling in this way, it becomes possible for the occupant M to turn in an upright state, and the occupant M never comes out of the tread T. Further, it is possible to turn so as to feel a certain amount of centrifugal force, and it is possible to realize that the vehicle is turning. That is, by changing the posture of the seat 3 of the occupant M, the occupant M can be smoothly moved with respect to changes in the turning radius and speed of the traveling vehicle 1, and the posture of the occupant M can be freely set. can do.

  Next, the control system configuration of such a traveling vehicle will be described with reference to FIG. FIG. 3 shows a control system configuration of the present embodiment. In the figure, 110 is a traveling vehicle attitude control system, 120 is a vehicle body attitude control means, 121 is an angular velocity meter as an example of the vehicle body attitude detection means, 122 is an accelerometer as an example of the vehicle body attitude detection means, 123 is an operation means, 124 Is a vehicle body ECU, 125 is a body posture control actuator, 130 is a seat posture control means as an example of an occupant posture control means, 131 is a seat relative tilt angle measuring device, 132 is a seat ECU, 133 is a seat tilt angle adjusting actuator. is there.

  The vehicle body posture control means 120 calculates the vehicle body inclination angular velocity detected by the biaxial angular velocity meter 121 and the operation information from the operation means 123 such as acceleration or joystick detected by the triaxial accelerometer 122 by the vehicle body ECU 124, The vehicle body 2 is controlled by outputting the value to the vehicle body posture control actuator 125. In addition, the vehicle body posture control unit 120 connects the vehicle seat posture control unit 130, outputs the vehicle body inclination angle and acceleration from the vehicle body ECU 124 to the seat ECU 132, and the vehicle body posture angle / position target correction amount is output from the vehicle body ECU 124. To output the vehicle body posture control in consideration of the relative inclination angle of the seat 3.

  The seat posture control means 130 can be connected to the existing vehicle body posture control means 120, and the seat relative inclination angle with respect to the vehicle body detected by the biaxial seat relative inclination angle measuring device 131 as an example of the occupant posture detection means and the vehicle body. By calculating the vehicle body inclination angle and acceleration from the vehicle body ECU 124 of the attitude control means 120 by the seat ECU 132, the vehicle body inclination angle target correction amount is output to the vehicle body ECU 124 and the command value is output to the seat inclination angle adjusting actuator 133. The seat inclination angle is controlled. As an input to the vehicle body ECU 124, the angular velocity meter 121, the accelerometer 122, or the operating means 123 may be used independently or in various combinations.

  Next, a flowchart of such a control system will be described. FIG. 4 is a control flowchart of the present embodiment. First, in step 1, the direction of acceleration is measured with the accelerometer 122 mounted on the vehicle body (S1). Next, in step 2, a target value (balance angle) of the vehicle body tilt angle is calculated (S2). Next, in step 3, the vehicle body inclination angle is calculated from the measured values of the accelerometer 122 and the angular velocity meter 121 mounted on the vehicle body (S3). Next, in step 4, a sheet inclination angle adjustment process described later is executed (S4). Next, in step 5, it is determined whether or not the measured value of the vehicle body tilt angle is equal to the corrected target value and whether the respective time change rates are equal (S5). As a result of the determination, if the measured value of the vehicle body tilt angle is equal to the corrected target value and the respective time change rates are also equal, the process returns to the start. As a result of the determination, if the measured value of the vehicle body tilt angle is not equal to the correction target value, or the respective time change rates are not equal, the process proceeds to step 6. In step 6, an actuator output value necessary to approach the target value of the vehicle body inclination angle is calculated (S6). Finally, based on the result calculated in step 6, in step 7, the data is output to the vehicle body posture control actuator (S7).

  Here, the seat inclination angle adjustment processing in step 4 will be described. First, in step 41, a target value of the seat inclination angle is calculated from the direction of acceleration of the vehicle body and the vehicle body inclination angle (S41). Next, in step 42, the seat inclination angle is measured by a seat relative inclination angle measuring device installed between the vehicle body and the seat (S42). Next, in step 43, the correction amount of the vehicle body tilt angle target value with respect to the center of gravity movement accompanying the seat tilt is calculated (S43). Next, in step 44, it is determined whether the measured value of the seat inclination angle is equal to the target value, and whether the respective time change rates are also equal (S44). As a result of the determination, if the measured value and the target value of the seat inclination angle and the respective time change rates are also equal, the seat inclination angle adjustment processing is terminated. If the measured value of the seat inclination angle is not equal to the target value, or if the respective time change rates are not equal, in step 45, calculation of an actuator output value necessary to approach the target value of the seat inclination angle is executed. (S45). Finally, based on the result calculated in step 45, the output is output to the seat inclination angle control actuator in step 46 (S46).

  Subsequently, various examples of the specific structure of the embodiment will be described with reference to FIGS. First, the first embodiment will be described. 5 and 6 show examples in which a rod-type actuator is applied. FIG. 5 is a schematic view of a state in which an occupant is mounted, FIG. 6A is an enlarged view of a seat driving portion, and FIG. 6B is a plan view of FIG.

  In the figure, 1 is a traveling vehicle, 12 is a vehicle body, 12a is a main frame, 12b is a seat mounting frame, 13 is a seat as an example of an occupant mounting portion, 14 is an axle, 15 is a wheel, 16 is an actuator, 17 is a spring, Reference numeral 18 denotes a joint.

  The vehicle body 12 includes a main frame 12a and a seat mounting frame 12b. The seat mounting frame 12b is disposed diagonally below the seat 13, and the main frame 12a connects the intersection of the diagonal lines of the seat mounting frame 12b and the axle 14 via a joint 18 such as a universal joint. The actuator 16 uses a ball screw, an electromagnetic actuator, or the like, and connects a substantially intermediate portion of the main frame 12a and one end in the traveling direction of the seat mounting frame 12b via a joint 18. Further, the spring 17 connects a substantially intermediate portion of the main frame 12a and a rear end of the seat mounting frame 12b in the traveling direction via a joint 18.

  By adopting such a structure, the seat 13 can be controlled to an arbitrary inclination angle by extending and contracting the actuator 16. Further, by installing the spring 17, energy is not required for maintaining an upright posture at the time of stopping and traveling at a constant speed, and it is possible to prevent the actuator 16 from falling backward when the actuator 16 fails.

  Next, a second embodiment will be described. 7 and 8 show examples in which electromagnetic force is applied. FIG. 7 is a schematic view showing a state where an occupant is mounted, FIG. 8A is an enlarged view of a seat driving portion, and FIG. 8B is a plan view of FIG. 8A.

  In the figure, 1 is a traveling vehicle, 22 is a vehicle body, 22a is an upper end surface, 22b is a stopper, 22c is a coil mounting portion, 23 is a seat as an example of an occupant mounting portion, 23a is a bottom surface, 23b is a spring mounting portion, 24 Is an axle, 25 is a wheel, 26 is a coil, 27 is a permanent magnet, 28 is a ball as an example of a sphere, and 29 is a spring.

  The vehicle body 22 has a spherical upper end surface 22 a at the upper portion, a stopper portion 22 b at the edge of the upper end surface, and a coil attachment portion 22 c in which a plurality of coils 26 are installed below the upper end surface 22 a. It is connected with. The seat 23 has a spherical bottom surface 23 a, and a permanent magnet 27 is installed on the bottom surface 23 a so as to face the coil 26 attached to the coil attachment portion 22 a of the vehicle body 22. A non-magnetic ball 28 is interposed between the upper end surface 22 a of the vehicle body 22 and the bottom surface 23 a of the seat 23. A stop portion 22 b is provided on the upper end surface 22 a of the vehicle body 22, and a spring 29 is disposed in the radial direction between the stop portion 22 b and the spring mounting portion 23 b of the seat 23.

  By setting it as such a structure, the sheet | seat 23 can be controlled to arbitrary inclination angles by controlling the electric current distribution of the coil 26 attached to the coil attaching part 22c of the vehicle body 22. FIG. Further, since the stopper 22 b is provided on the upper end surface 22 a of the vehicle body 22, the ball 28 does not jump out from the space between the upper end surface 22 a of the vehicle body 22 and the bottom surface 23 a of the seat 23. Further, since the spring 29 is disposed in the radial direction between the stopper portion 22b and the spring mounting portion 23b of the seat 23, the vehicle body 22 and the seat 23 can be connected. Since the non-magnetic ball 28 is interposed between the upper end surface 22a of the vehicle body 22 and the bottom surface 23a of the seat 23, friction between both surfaces can be reduced. Furthermore, no energy is required for maintaining an upright posture when stopping and traveling at a constant speed.

  Next, a third embodiment will be described. 9 and 10 show examples in which a slide actuator is applied. FIG. 9 is a schematic view of a state in which an occupant is mounted, FIG. 10A is an enlarged view of a seat driving portion, and FIG. 10B is a plan view of FIG.

  In the figure, 1 is a traveling vehicle, 32 is a vehicle body, 32a is an upper end portion, 32b is an intermediate portion 32c is a lower portion, 32d is a rail, 33 is a seat as an example of an occupant mounting portion, 34 is an axle, 35 is a wheel, An actuator, 36a is a rod-shaped portion, 36b is a base-shaped portion, 37 is a moving body, 38 is a spring, and 39 is a joint.

  The vehicle body 32 includes a rectangular upper end 32a, a lower part 32c connected to the axle 34, a quadrangle apex of the upper end 32a, and an intermediate part 32b connecting the lower part 32c. A rail 32d is disposed on the upper side surface. Each moving body 37 is installed on each rail 32 d, and each moving body 37 is coupled to the actuator 36. As the actuator 36, a ball screw type or electromagnetic type is applied, and two orthogonal rod-like portions 36a coupled to the moving body 37 on two opposite sides are coupled to the respective rod-like portions 36a so as to be relatively movable. And a table-like portion 36b. The spring 38 is provided between the intersection of the intermediate portion 32 b and the lower portion 32 c of the vehicle body 32 and the platform portion 36 b of the actuator 36 via a joint 39 such as a ball joint or a universal joint. The portion 36 b is biased so as to be on the extension line of the lower portion 32 c of the vehicle body 32.

  With such a structure, by controlling the actuator 36, the seat 33 can be controlled to be movable to an arbitrary position within the upper end portion 32 a of the vehicle body 32. Further, by attaching the spring 38, energy is not required for maintaining an upright posture at the time of stopping and traveling at a constant speed, and it is possible to help maintain the posture when the actuator 36 breaks down.

  Next, a fourth embodiment will be described. 11 and 12 show an example in which a rod-type actuator is applied to a seat suspended from above. FIG. 11 is a schematic diagram of a state where an occupant is mounted, FIG. 12A is an enlarged view of an occupant mounting portion, and FIG. 12B is a plan view of FIG.

  In the figure, 1 is a traveling vehicle, 42 is a vehicle body, 42a is an upper part, 42b is an intermediate part, 42c is a lower part, 42d is a first hanging part, 42e is a second hanging part, and 43 is a seat as an example of a mounting means. , 44 is an axle, 45 is a wheel, 46 is an actuator, and 47 is a joint.

  The vehicle body 42 includes an upper part 42a, an intermediate part 42b, a lower part 42c, a first hanging part 42d, and a second hanging part 42e.

  The upper part 42a is provided so as to bend so as to bypass the back 43b of the seat 43 from the upper side to the rear side of the seat 43, and the upper end is connected to the first hanging part 42d and the second hanging part 42e via the joint 47, The lower end is connected to the rear portion of the seat 43 through the intermediate portion 42 b and the actuator 46 via a joint 47. The upper end, which is a connection point between the first suspending portion 42 d and the second suspending portion 42 e, becomes the rotation center of the seat 43.

  The intermediate part 42b has a curved part 42b1 and a radial part 42b2, and the curved part 42b1 is slightly below the seat 43 and passes the rear side from one side part so as to bypass the seat seating surface 43c. The radial portion 42b2 connects the upper end of the lower portion 42c and the curved portion 42b1. In the radial portion 42b1 of this example, one extends from the upper end of the lower portion 42c to the intersection of the upper portion 42a and the curved portion 42b1, and the remaining two extend from the upper end of the lower portion 42c to the end of the curved portion 42b1, respectively. 47. The intermediate part 42 b and the seat 43 are connected via an actuator 46 and a joint 47. In this example, one is connected between the intersection of the upper portion 42a and the curved portion 42b1 and the seat seat surface 43c, and the remaining two are the end of the curved portion 42b1 and the left and right front of the seat seat surface 43c. And

  The lower part 42 c has an upper end positioned at the center of the radial part 42 b 2 of the intermediate part 42 b and a lower end supporting the axle 44. The first suspending portion 42d connects the upper end of the upper portion 42a and the headrest 43a of the seat 43 via a joint, whereby the seat 43 is suspended from the upper end of the upper portion 43a. The second hanging part 42e connects the upper end of the upper part 42a and the end of the curved part 42b1 of the intermediate part 42b.

  With such a structure, the seat 43 can be controlled to an arbitrary inclination angle by controlling the actuator 46. Furthermore, no energy is required for maintaining an upright posture when stopping and traveling at a constant speed.

  DESCRIPTION OF SYMBOLS 1 ... Traveling vehicle, 2 ... Car body, 3 ... Seat as an example of passenger | crew mounting part, 4 ... Axle, 5 ... Wheel, 12 ... Vehicle body, 12a ... Main frame, 12b ... Seat mounting frame, 13 ... Example of passenger | crew mounting part 14 ... axle, 15 ... wheel, 16 ... actuator, 17 ... spring, 18 ... joint, 22 ... vehicle body, 22a ... upper end surface, 22b ... stop part, 22c ... coil mounting part, 23 ... passenger mounting part Example seat, 23a ... bottom surface, 23b ... spring mounting portion, 24 ... axle, 25 ... wheel, 26 ... coil, 27 ... permanent magnet, 28 ... ball as an example of a sphere, 29 ... spring, 32 ... vehicle body, 32a ... upper end part, 32b ... intermediate part 32c ... lower part, 32d ... rail, 33 ... seat as an example of occupant mounting part, 34 ... axle, 35 ... wheel, 36 ... actuator, 36a ... rod-like part, 6b ... Platform part, 37 ... Moving body, 38 ... Spring, 39 ... Joint, 42 ... Car body, 42a ... Upper part, 42b ... Intermediate part, 42c ... Lower part, 42d ... First suspension part, 42e ... Second suspension , 43 ... Seat as an example of mounting means, 44 ... Axle, 45 ... Wheel, 46 ... Actuator, 47 ... Joint, 110 ... Traveling vehicle attitude control system, 120 ... Car body attitude control means, 121 ... Car body attitude detection means An angular velocity meter as an example, 122 ... an accelerometer as an example of a vehicle body posture detection means, 123 ... an operation means, 124 ... a vehicle body ECU, 125 ... an actuator for vehicle body posture control, 130 ... a seat posture control as an example of an occupant posture control means Means 131... Seat relative tilt angle measuring device, 132... Seat ECU, 133... Seat tilt angle adjusting actuator, G 1. , G2 ... occupant's center of gravity, g ... gravity, Fi ... inertial force, Ff ... forward force, V ... vertical axis, E ... equilibrium axis, B ... vehicle body axis, P ... ground point, Fc ... centrifugal force, T ... tread

Claims (2)

The car body,
A wheel rotatably supported on the vehicle body and disposed on one axis;
An occupant mounting portion that supports the occupant and mounts the occupant;
In a traveling vehicle having
A traveling vehicle comprising operating means operated by an occupant, wherein the occupant mounting portion is moved relative to the vehicle body in a traveling direction of the vehicle body in response to an operation of the operation means.   The traveling vehicle according to claim 1, wherein the occupant mounting portion moves parallel to the vehicle body.

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