JP2011031654A - Moving body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a moving body exhibiting further enhanced safety when an abnormal situation occurs in upstanding control of the moving body in a high-speed traveling state. <P>SOLUTION: The moving body 10 includes a vehicle body 36 on which an occupant rides; a support section 28 extended upward from the vehicle body 36; first and second wheels 18 which rotate around an axis orthogonal to a traveling direction of the vehicle body 36, and are disposed both right and left sides of the vehicle body 36 along an orthogonal direction; a control section 14 performing postural control of the vehicle body 36 by controlling drive of the individual wheels 18; a support member 24 connected to the support section 28; and a ground contact section 22 disposed on the support member 24. During contact with a traveling surface 30, the ground contact section 22 contacts the traveling surface 30 ahead of the first and second wheels 18 in the traveling direction. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a moving body that controls the driving of wheels to perform an inversion control, and more particularly to a moving body that more safely protects a passenger when the inversion control of the moving body becomes unstable.

  2. Description of the Related Art Conventionally, an inverted two-wheeled moving body that travels with a person on board is known, and when the inversion control of the moving body is operating normally, the vehicle travels stably and stably autonomously. However, when the inversion control becomes unstable for some reason, the moving body may lose its balance and fall over.

  Patent Document 1 discloses a mechanism in which when an abnormality of a moving body is detected, an auxiliary wheel is urged toward a traveling surface and jumps out toward the traveling surface. Thereby, even if abnormality occurs in the moving body, the moving body can be held in a stable posture by assisting the wheels with the auxiliary wheels.

JP 2004-217170 A

  However, in the case of the mechanism disclosed in Patent Document 1, the position where an auxiliary member such as an auxiliary wheel contacts the ground is relatively near the wheel. In a state where the traveling speed of the moving body is high, it is conceivable that the posture cannot be stably assisted by the inertial force or the like generated in the moving body and the passenger when trying to maintain the posture.

  The present invention has been made to solve the above-described problem, and provides a safer moving body when an abnormal situation occurs in the inversion control of the moving body at a high traveling speed. Objective.

  The mobile body according to the present invention rotates around a vehicle body on which an occupant is boarded, a support column extending upward from the vehicle body, and an axis orthogonal to the traveling direction of the vehicle body, and along the orthogonal direction, A first wheel and a second wheel disposed on the left and right sides of the vehicle body, a control unit for controlling the posture of the vehicle body by controlling driving of the wheels, and a support member connected to the support column And a grounding portion provided on the support member, wherein the grounding portion is in contact with the traveling surface in the traveling direction ahead of the first and second wheels when contacting the traveling surface. . Since the support member is installed on the support column, the distance between the support member that is considered as a fulcrum and the vehicle body that is considered as an action point is longer than when the support member is installed near the wheel. It becomes easy to support the body with each passenger.

  The support member may have a viscosity that counteracts a reaction force received from the traveling surface when the grounding portion contacts the traveling surface. As a result, when the mobile body falls, the mobile body can be gradually brought closer to the running surface, so that the impact on the mobile body and the passenger can be reduced.

  Furthermore, the support column may be an operation bar operated by the passenger.

  Furthermore, when the posture control by the control unit is abnormal, the grounding unit may protrude from the support unit toward the front in the traveling direction of the moving body. Thereby, when the sensor with which the mobile body was equipped detected abnormality, a support member protrudes from a support | pillar part and can prevent the fall to the front of a running direction.

  According to the present invention, it is possible to provide a safer moving body when an abnormal situation occurs in the inversion control of the moving body at a high traveling speed.

The block diagram of the moving body which concerns on this invention. FIG. 3 is a perspective view of a moving body according to the first embodiment. The perspective view of the moving body which concerns on Embodiment 1 of a supporting member expansion | deployment state. FIG. 6 is a perspective view of a moving body according to another variation of the first embodiment. FIG. 6 is a perspective view of a moving body according to another variation of the first embodiment. The side view of the mobile body which concerns on Embodiment 2. FIG. The side view of the moving body which concerns on Embodiment 2 of a support member expansion | deployment state.

  Hereinafter, specific embodiments to which the present invention is applied will be described in detail with reference to the drawings. In the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted as necessary for the sake of clarity.

<Embodiment 1 of the Invention>
1 shows a sensor 12, a control unit 14, a wheel driving unit 16, first and second wheels 18, a grounding unit driving unit 20, a grounding unit 22 and a column unit 28 of a moving body 10 according to Embodiment 1 of the invention. It is a block diagram.

The various sensors 12 include, for example, a safety monitoring sensor 121, a pitch angle detection sensor 122, a roll angle detection sensor 123, and a yaw angle detection sensor 124.
The pitch angle detection sensor 122, the roll angle detection sensor 123, and the yaw angle detection sensor 124 are, for example, a rotation center whose center of weight is the rotation axis of a gyroscope or a rotary variable resistor whose resistance value changes according to the rotation angle. It is equipped with a rigid weight that deviates from the above.
The safety monitoring sensor 121 is used, for example, to constantly monitor the trouble of the auxiliary wheel pop-out mechanism and to ensure the reliability of traveling of the moving body 10.
In addition, there is no restriction | limiting in the attachment position of the pitch angle detection sensor 122, the roll angle detection sensor 123, the yaw angle detection sensor 124, and the safety monitoring sensor 121. Further, the moving body 10 is not limited to the sensor, and may include other sensors.

The control unit 14 controls the rotation of the wheel 18 based on a rotation signal in accordance with an operation due to weight shift by the passenger. In addition, the support | pillar part 28 may not only be hold | gripped in order that a passenger may balance, but may be an operation bar like FIG. 2 of this Embodiment. That is, the control unit 14 may control the rotation of the wheel 18 based on a rotation signal corresponding to an operation by an input to the column unit 28 by the passenger.
In addition to the passenger's operation, the wheel drive unit 16 rotates the wheel 18 based on detection signals from the pitch angle detection sensor 122, the roll angle detection sensor 123, the yaw angle detection sensor 124, and the safety monitoring sensor 121. It is preferable to control.

Further, the control unit 14 outputs a control signal to the grounding unit drive unit 20 based on detection signals from the pitch angle detection sensor 122, the roll angle detection sensor 123, the yaw angle detection sensor 124, and the safety monitoring sensor 121. It is preferable.
Further, the control unit 14 may output a control signal to the grounding unit driving unit 20 based on an input signal from a passenger to the support column 28.
When the control unit 14 detects an abnormality regardless of the state of the moving body 10 such as the speed, acceleration, posture, or wheel rotation of the moving body 10, the control unit 14 sends a control signal for abnormality detection to the grounding unit driving unit. 20 may be output. As a result, the grounding portion 22 can be automatically grounded in the event of an abnormality.
In addition, as a condition for outputting a control signal to the grounding unit driving unit 20 due to abnormality detection, when the emergency stop switch is pressed, when the battery voltage decreases, each sensor 12, the actuator 202, etc., the control unit 14, etc. There are various factors such as when a communication error occurs. Since this is described in paragraphs 22 and 23 of Patent Document 1, it is omitted in the present application.

  The wheel drive unit 16 includes drive circuits 161 and 162 and motors 163 and 164. The drive circuits 161 and 162 generate a drive signal based on the control signal from the control device 14 and output it to the motors 163 and 164. Each motor rotates each wheel 18 according to the drive signal.

  The first and second wheels 18 rotate around a rotation axis orthogonal to the traveling direction, respectively, and are disposed on the vehicle body 36 along the orthogonal direction. Such an arrangement of the wheels 18 makes it possible for the moving body 10 to change its direction only at a certain place, and it becomes easier to use even in a limited space such as a hospital or home.

The grounding unit driving unit 20 includes a grounding unit driving circuit 201 and an actuator 202. The grounding unit drive circuit 201 generates a drive signal based on the control signal from the control unit 14 and outputs this to the actuator 202.
The actuator 202 drives the grounding portion 22 toward the traveling surface 30 of the moving body 10 when the drive signal is input.

The ground contact portion 22 may be an auxiliary wheel for assisting the posture, such as a caster, or may be a member that assists the posture by reducing the speed of the moving body 10 such as a braking member. In the present embodiment, a braking member is used as the ground contact portion 22. When a braking member is used, it is possible to prevent the moving body 10 from overturning and to perform braking by frictional contact with the floor surface.
Further, when an auxiliary wheel is used as the ground contact portion 22, the mobile body 10 is prevented from falling, and the mobile body 10 can be supported and traveled at three or more points, so that stable travel is possible.
Furthermore, when the grounding portion 22 is an elastic body such as rubber or a spring and can absorb the impact, it is possible to reduce the impact applied to the moving body 10 and the passenger.
The grounding unit 22 is connected to the support column 28 by a support member 24, and the actuator 202 is driven by a drive signal from the control unit 14 so that the grounding unit 22 is grounded.

  Next, the structure of the grounding part 22, the support member 24, the rotating shaft 26, the support | pillar part 28, and the vehicle body 36 is demonstrated using FIG. 2 and FIG. In the present embodiment, the ground contact portion 22 is a member made of a material that is expected to have a braking force, but this may not be expected to have a braking force such as an auxiliary wheel but may be capable of posture control. Although the support member 24 and the support | pillar part 28 are curvilinear shape in this Embodiment, it is not restricted to this, A linear shape may be sufficient. The support portion 28 may be an operation bar having a handle as shown in FIG. 2 or may be gripped by a passenger or may be loaded with a passenger's arms, waist, legs, or the like. It may simply be a support for the passenger to maintain balance.

  The grounding portion 22 is fixed to one end of the support member 24. The other end of the support member 24 is fixed to the rotating shaft 26 of the column portion 28. The grounding portion 22 and the support member 24 rotate about the rotation shaft 26. The column portion 28 extends upward from the vehicle body 36.

  In the present embodiment, the passenger can hold the handle provided on the operation bar of the support column 28 and input the traveling direction or speed of the moving body 10. An input signal input from the column unit 28 is transmitted to the control unit 14. In addition, it may be possible to instruct the driving of the support member 24 from the support column 28.

  As described above, the post 28 extends upward from the vehicle body 36 as described above. However, the post 28 may be installed on the upper surface of the vehicle body 36. 36 may be installed on the side surface. When the column portion 28 is installed on the side surface of the vehicle body 36, the column portion 28 extends above the vehicle body 36 while drawing an arc or bending.

The connection between the support member 24 and the rotary shaft 26 is rotatably fixed, and the support member 24 can swing in the advancing / retreating direction of the moving body 10.
With this configuration, during normal travel, the grounding unit 22 and the support member 24 are close to the support column 28 as shown in FIG. 2, but when the actuator 202 receives a drive signal from the control unit 14, As shown in FIG. 3, the support member 24 is rotated in the direction in which the grounding portion 22 is grounded. Thereby, when the moving body 10 is abnormal in the inverted control, the stability of the moving body 10 is maintained by the pair of wheels 18 and the ground contact portion 22.
In the present embodiment, the grounding portion 22 protrudes forward from the column portion 28 extending upward from the vehicle body 36. For this reason, when the moving body 10 is tilted forward in the traveling direction and the grounding portion 22 is grounded, the moving body 10 has an intermediate portion of the column portion 28, that is, the position of the rotary shaft 26 as a fulcrum. The handle portion of the operation bar of the portion 28 becomes a power point. Compared with the case where the support member 24 and the ground contact portion 22 are disposed in the vicinity of the wheel, the length from the fulcrum to the action point is increased, and the length from the fulcrum to the force point is decreased. Therefore, it becomes easy to support the mobile body 10 with each passenger.

  Further, the configuration is not limited to the above, and the grounding portion 22 and the support member 24 may be fixed above the support portion 28 as shown in FIG. Thereby, when the actuator 202 is actuated, acceleration due to the weight of the grounding portion 22 and the support member 24 is also added, and the grounding can be performed in a short time.

Further, the grounding portion 22 and the support member 24 may be housed in the support portion 28 as shown in FIG. Thereby, it is possible to board the passenger without worrying about the grounding portion 22 and the support member 24 without making the support portion 28 uneven.
When the grounding portion 22 is deployed, the grounding portion 22 may be biased using a coil spring or the like.

  Furthermore, in the present embodiment, the support member 24 is provided so that the grounding portion 22 and the support column 28 are close to each other during the normal travel of the moving body 10, but the present invention is not limited to this configuration. The grounding portion 22 and the support column 28 may be provided separately from each other. Since the grounding unit 22 and the support column 28 are always separated from each other, it is possible to always prepare for the overturn of the moving body 10 regardless of the actuator 202, the control unit 14, the drive signal, and the like.

  The grounding unit 22 is grounded before the mobile body 10 falls, and supports the passenger and the mobile body 10. The support member 24 may have a viscosity that counteracts a reaction force received from the traveling surface 30 when the ground contact portion 22 contacts the traveling surface 30. Thereby, the moving body 10 gradually approaches the traveling surface 30, and it is possible to reduce the impact given from the traveling surface 30 to the moving body 10 and the passenger.

  Note that the vehicle body 36 may include a step in which a passenger of the moving body 10 can ride in a standing posture. In addition, a chair may be provided that allows the passenger to board in a sitting position. When the occupant rides in a standing posture, the occupant puts weight on the support column 28 using his / her hands, arms, waist, legs, etc., and is integrated with the mobile unit 10. When the vehicle stops suddenly, inertial force acting forward in the traveling direction is applied to the moving body 10 and the passenger. Even in the sitting posture, the occupant is integrated with the moving body 10 using hands, arms, waists, legs, or a seat belt. Inertial force acting forward is applied to the moving body 10 and the passenger. In either case of the standing posture or the sitting posture, there is a risk of falling due to the inertial force. Therefore, the supporting member 24 and the ground contact portion 22 are projected from the support column 28 according to the present embodiment. Means for performing the control are effective.

<Embodiment 2 of the Invention>
The second embodiment will be described with reference to FIGS. In addition, description is abbreviate | omitted about the point which is common in the mobile body 10 of Embodiment 1. FIG. The moving body 32 shown in FIGS. 6 and 7 includes a convex portion 34 in addition to the moving body 10 of the first embodiment.

When the moving body 32 falls, the moving body 32 is supported by the convex portion 34 and the grounding portion 22 in a state where the grounding portion 22 is grounded. In the above state, as shown in FIG. 7, the protrusion 34 is provided at a position in front of the vehicle body of the moving body 32 such that the wheels 18 of the moving body 32 are separated from the traveling surface 30.
When the moving body 32 falls, the wheels 18 are separated from the traveling surface 30, whereby the driving force of the motors 163 and 164 applied to the falling moving body 32 can be blocked, and unnecessary force is applied to the moving body 32. It is possible to prevent.
Note that the convex portion 34 does not have to be formed of a member different from the vehicle body 36 as shown in FIGS. 6 and 7, and the step portion on which the passenger of the vehicle body 36 rides is forward in the traveling direction of the moving body 10. It may be protruding. Moreover, even if it does not always protrude from the vehicle body 36, it may protrude according to the situation, for example, when the sensor detects an abnormality.

DESCRIPTION OF SYMBOLS 10 ... Moving body 12 ... Sensor 121 ... Safety monitoring sensor 122 ... Pitch angle detection sensor 123 ... Roll angle detection sensor 124 ... Yaw angle detection sensor 14 ... Control part 16 .. Wheel drive unit 161... First drive circuit 162... Second drive circuit 163... First motor 164... Second motor 18. Drive unit 201 ・ ・ ・ Grounding unit drive circuit 202 ・ ・ ・ Actuator 22 ・ ・ ・ Grounding unit 24 ・ ・ ・ Support member 26 ・ ・ ・ Rotating shaft 28 ・ ・ ・ Column 30 ・ ・ ・ Traveling surface 32 ・ ・ ・ Movement Body 34 ... convex part 36 ... car body

Claims (5)

The body on which the passenger is boarded,
A support column extending upward from the vehicle body;
A first wheel and a second wheel respectively rotating about an axis orthogonal to the traveling direction of the vehicle body, and disposed on both left and right sides of the vehicle body along the orthogonal direction;
A control unit for controlling the posture of the vehicle body by controlling driving of the wheels;
A support member coupled to the support column;
A grounding portion provided on the support member;
A moving body comprising:
The grounding unit is a moving body that contacts the traveling surface in the traveling direction ahead of the first and second wheels when contacting the traveling surface.   The moving body according to claim 1, wherein the support member has a viscosity that counteracts a reaction force received from the traveling surface when the grounding portion contacts the traveling surface.   The moving body according to claim 1, wherein the support column is an operation bar operated by the passenger.   The said grounding part is a moving body as described in any one of Claim 1 to 3 which protrudes toward the running direction of the said moving body from the said support | pillar part at the time of the attitude | position control abnormality by the said control part. Further comprising a convex portion projecting forward from the vehicle body in the traveling direction,
The convex portion has a structure in which when the grounding portion is grounded to the traveling surface, the convex portion is grounded to the traveling surface at a short distance from the first and second wheels with respect to a grounding portion of the grounding portion. Item 5. The moving object according to any one of Items 1 to 4.

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