JP2011057111A - Riding type moving device combined with a pair of one-leg placing type moving bodies - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a riding type moving device of a personal mobility type in which the size and weight are reduced and the control is simplified, a control mode can be flexibly set according to a traveling environment, and climbing up and down a large level difference and stairs can be achieved without installing a special auxiliary device. <P>SOLUTION: In the riding type moving device combined with the pair of one-leg placing type moving bodies, each moving body includes: a step where one leg is placed on its top surface; one wheel rotatably supported; a motor driving the wheel; and a control device controlling the motor. The control device keeps a balance in a pitch direction based on a detection value of a pitch angle sensor detecting the angle of each moving body in the pitch direction, and is provided with a means determining the traveling direction and speed of each moving body. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a riding moving apparatus that combines a pair of one-leg-mounted moving bodies.

In recent years, as a small and lightweight personal mobility, research and development of an inverted pendulum system with parallel two-wheel independent drive has been extensively conducted.
Although this form is a form with a small number of two wheels, by securing the balance between the front and rear by controlling the wheel, it can be stopped on the spot, and at the same time, the left and right wheels are controlled independently, moving forward and backward, A turn can be made. In addition, since the area occupied by mobility can be reduced, the affinity when used in crowded places is also good.

But on the other hand, with these systems,
(1) An actuator such as a drive motor is provided on each of the two wheels to realize traveling and steering, and a large step is required so that the user can place both feet, and further reduction in size and weight is difficult.
(2) Since it is based on two-wheel driving, it has poor expandability.
(3) It is impossible to raise and lower large steps and stairs, and it is necessary to add a special auxiliary device.
There are problems such as.

Accordingly, several passenger moving bodies with one wheel instead of two have been proposed.
In Patent Document 1 and Patent Document 2, a mechanism for a single-wheeled vehicle with a handle and without a handle is disclosed. In Patent Document 3, a movable vehicle with a handle having a configuration in which a plurality of wheels are arranged close to each other in parallel. A mechanism has been proposed.

Special Table 2003-508285 Special table 2003-502002 gazette JP 2005-162060 Gazette

Patent Documents 1 and 2 propose a mechanism for a one-wheel-passenger moving body, but a method for stabilizing the roll direction is not disclosed, and when riding, the user is on steps provided on both sides of one wheel. Since both feet must be placed, it is virtually impossible to move up and down large steps or stairs.
Although Patent Document 3 proposes a stabilization method in the front-rear and left-right directions, the user still has to place both feet on the steps provided on both sides of one wheel. However, there is a practical problem that the allowable range for the tilt in the left-right direction is limited because it is necessary to ensure a left-right balance with respect to the movement of the entire weight of the user.
Therefore, the mobile body proposed in the present invention is a passenger mobile device in which a mobile body having one drive wheel is an independent unit, and each user's foot is placed on each mobile body. It is an object to realize a moving body in various forms as well as boarding and stepping on the road.

Therefore, in order to solve the above-described problems, the riding mobile body of the present invention is a riding mobile device that combines a pair of one-leg-mounted mobile bodies, each moving body having a step in which one leg is placed on the upper surface, A wheel that is rotatably supported, a motor that drives the wheel, and a control device that controls the motor are provided. The control device includes a sensor that detects an angle in the pitch direction and an angular velocity of each moving body. Means are provided for balancing the pitch direction based on the detected value and the detected value of the wheel rotation angular velocity sensor, and determining the traveling direction and traveling speed of each moving body based on the pitch angle of the moving body.
Moreover, in order to detect the presence or absence of a user's boarding, the floating of the wheel from the ground, etc., a force sensor may be provided on the step or the step in the riding mobile body.

  Further, in the riding moving body, a fixing portion formed by combining a toe insertion portion, a belt, or the like for fixing a user's foot or shoes may be provided in the step.

  Furthermore, a cylindrical portion to which a handle bar having a user grip at the upper end can be detachably attached may be provided at the upper end of the movable body.

  The user grip may be provided with a controller for switching power on / off and control mode of the control device.

  The control device may be provided with a wireless transmitter / receiver such as an infrared ray or a radio wave, and the control device may be turned on / off and controlled in accordance with the movement of the controller by a user's operation.

  In addition, a wireless transceiver such as an infrared ray or radio wave is provided in the control device, and when one moving body is lifted, a control signal is sent to the control device of the other moving body so that the other moving body is stationary or locked. You may make it send.

  Furthermore, you may enable it to connect the both ends of the axis | shaft couple | bonded with each center side surface part of the said mobile body by the universal joint so that rotation and attachment are possible.

  According to the riding and moving apparatus combining a pair of one-leg-mounted moving bodies according to the present invention, it is assumed that the user places each foot on a pair of moving bodies and the user himself / herself balances left and right. The body control device calculates motor torque based on the pitch angle, angular velocity, and wheel rotation angular velocity of the moving body, so that the control mode can be flexibly set according to the size and weight, simplification of control, and the driving environment. For example, it is possible to realize a large step or up and down of a staircase without providing a special auxiliary device.

Furthermore, the user can turn on / off the power of the control device or switch the control mode using, for example, a controller attached to the handlebar grip or a gyro built-in infrared controller attached to the arm, etc. It is possible to control traveling speed, steering, brakes, etc., and connect the control devices of both moving bodies using a transceiver with infrared rays or radio waves, and coordinate both controls in various ways, It is possible to travel smoothly and safely over various steps and obstacles.

The figure which shows the whole one leg mounting type moving body A view of a single-legged mobile body from the side The figure which shows the internal structure which looked at the one leg placement type moving body from the lower part The figure which shows the internal structure which looked at the one leg mounting type moving body from the front The figure which shows the block diagram of the control device Diagram showing the principle of pitch angle control The figure which shows the sequence at the time of climbing a level | step difference by attaching a handle bar to a one leg mounting type mobile body The figure which shows the whole one leg mounting type mobile body provided with the stopper

FIG. 1 shows an overall view of an embodiment of a single-leg-mounted moving body according to the present invention.
Step 2 on which the user's one foot is placed is formed on the upper surface of the moving body 1, and a toe insertion part, a belt, etc. for fixing the user's foot or shoes are attached to this step 2. You may provide the fixed part formed in combination.

A single wheel 3 is rotatably supported inside the moving body 1, and the user himself / herself balances left and right by placing each foot on a set of two moving bodies. It is based on being independent.
In this embodiment, the auxiliary idler wheels 4 are attached to both sides of the wheel 3 so as to be freely rotatable and adjustable in height. This is used when a child or an unfamiliar person uses it. A suspension mechanism may be provided to stabilize the moving body 1 so that it can be tilted left and right to some extent as the user moves to the left and right during running. Alternatively, a mechanism may be provided in which the auxiliary idler wheel 4 is retracted by the electric actuator after being stabilized after use by operating a wireless controller with a built-in gyro.

2 to 4 show the internal structure of the moving body 1.
The driving force from the motor 5 is transmitted to the gear 6 attached to the axle 8 of the wheel 3 via the motor output shaft gear 6 and the toothed belt 7, and the motor 5 is provided inside the moving body 1. The control device 9 is configured to control the rotation direction and the rotation speed. Instead of the toothed belt 7, a plurality of gears may be combined to transmit the motor output. Moreover, you may make it an in-wheel motor of the form which embeds a motor in a wheel.

  Chargeable / dischargeable batteries 10 a and 10 b are arranged on the left and right inside the mobile body 1. Power is supplied to the motor 5 via a motor driver, and the control device 9 is supplied via a DC / DC converter 11. While supplying electric power, it can be charged by a household power supply via a charging connector provided on the side surface of the mobile body 1.

A force sensor 12 that detects that the user has placed one foot may be installed on the upper surface of Step 2 or inside the moving body 1.
In addition, a rotary encoder that detects a rotational angular velocity of a rate gyro 13 that is a pitch angle (velocity angle in the front-rear direction with respect to the moving direction) speed sensor, an accelerometer 14 that is a pitch angle sensor, and a wheel 3 is included in the moving body 1. 15 etc. are provided.

FIG. 5 shows a block diagram of the control device 9 based on detection values from the rate gyro 13 and the accelerometer 14.
When it is confirmed by the controller instruction or the force sensor 12 by the user that the user has placed one foot on the step 2, the power supply of the control device 9 is switched from standby and the motor 5 is controlled via the motor driver. Start.
The basis of this control device 9 is to balance the pitch direction based on the rate gyro 13, the accelerometer 14, and the rotary encoder 15, and to calculate the target speed of the moving body 1 to control the traveling speed. .

  At the start of use, both feet are sequentially placed on each of the paired moving bodies 1, but the control of the motor 5 is started when the pitch angle of the moving bodies becomes substantially horizontal. This may be controlled by the user using the above-described wireless controller, or each moving body 1 exchanges signals such as infrared rays with each other, and the pitch angle of both moving bodies is substantially horizontal. At this stage, the control of the motor 5 may be started.

When the motor control of the moving body is started, the rate gyro 13 and the accelerometer 14 detect a slight forward tilt and a backward tilt of the user when standing upright. Step 2 is kept horizontal by accelerating the wheel 3 slightly forward and, if tilted backward, slightly accelerating the wheel 3 backward. Furthermore, this effect allows the user to move forward and backward as the user intentionally tilts forward and backward.
That is, as shown in FIG. 6, the inclination angle in the pitch direction of the moving body detected by the rate gyro 13 and the accelerometer 14 is θ ₁ , and the inclination angular velocity of the moving body 1 detected by the rate gyro 13 is dθ ₁ / dt. When the wheel rotation angular velocity detected by the rotary encoder 15 that detects the wheel rotation angular velocity is dθ ₂ / dt and the necessary motor torque is T,
The motor torque is controlled so that T = k ₁ θ ₁ + k ₂ dθ ₁ / dt + k ₃ dθ ₂ / dt (k _{1 to} k ₃ feedback gain).
At that time, the moving body 1 repeats minute back-and-forth movement, but it is necessary to suppress the movement in the front-rear direction to about several mm by appropriately setting the feedback gains k _{1 to} k ₃ .

If the user wants to steer to the left, if the toe load is increased on Step 2 of the right foot side moving body, the speed of the right foot side moving body increases and the moving direction can be smoothly changed to the left side. . At this time, if the body is tilted backward on Step 2 of the left foot side moving body, the left foot side moving body can be decelerated and further steered at a steep angle.
To steer to the right, on the contrary, the toe load may be increased on the step on the left foot side.

  As described above, the user can freely perform upright, stationary, forward, brake, and left-right steering, but as shown in FIG. 7, a cylindrical mounting provided near the tip of the moving body 1 When the handle bar 17 having a grip at the upper end is attached to the portion 16, the moving body 1 can be further stabilized, and the steps and stairs can be raised and lowered smoothly.

FIG. 7 shows a sequence when climbing the step.
(1) The user first applies a brake by taking a backward tilting posture, etc., then stops each moving body immediately before the stairs and once takes an upright posture.
(2) After stopping, the handle bar 17 is also used to lift one moving body with the force of the user's limbs.
(3) The lifted control unit 9 on the moving body detects that the load detected by the force sensor 12 has decreased sharply, and stops or locks the wheel driving motor 5.
(4) When the wheel 3 on the lifted side comes into contact with the upper surface of the step, the control device 9 determines that the landing is surely completed based on the detection value of the force sensor 12, and resumes the stabilization control.
(5) Next, the lower movable body is lifted by the power of the user's limbs.
(6) Similarly, the wheel drive motor 5 of the lifted moving body is stopped or locked by the signal of the tread force sensor 12, and the stabilization control is resumed when the wheel comes in contact with the upper surface of the step.
By repeating the above sequence, it is possible to smoothly ascend the stairs.
In the above embodiment, a case with a handle bar is shown. However, when a fixing part that combines a toe insertion part or a belt for fixing a user's foot or shoes is provided, the handle bar is provided. The same sequence can be realized by lifting the foot even if there is no.

  In the above embodiment, when moving up and down stairs or the like, as shown in FIG. 8, the moving body 1 is tilted forward by a predetermined angle or more on the toe side of the moving body 1 of the both-legged mounting type moving body. Sometimes a stopper 18 in contact with the floor surface may be provided and locked when the stairs are raised or lowered. In this case, the control device 9 detects that the detection angle of the pitch angle sensor 13 is equal to or greater than a predetermined angle, stops the pitch angle control and the speed control, and the lock by the stopper 17 is reliably maintained. It is preferable to do.

  Further, a sensor for detecting contact with an obstacle may be provided on the front end surface of the moving body, and the moving body 1 may be locked by detecting that the landing body side moving body 1 has contacted the stepped surface. .

  As described above, the present invention is based on the assumption that the user places each foot on a pair of moving bodies and the user himself / herself balances left and right. By controlling the pitch direction based on the angle, angular velocity, and wheel rotation angular velocity, and performing running control, it is possible to flexibly set the control mode according to the reduction in size and weight, simplification of control, and running environment. It is possible to realize a large step and up and down stairs without providing a special auxiliary device.

  For example, the user uses a controller or the like attached to the grip of the handlebar 17, for example, to turn on / off the power of the control device 9, switch the control mode, and control the traveling speed, steering, brake, etc. The feedback gain may be adjusted according to the motor ability of the user, and the control device for both mobile units is provided with a transceiver by infrared rays, radio, etc., and both are connected to control both. If they are linked in various ways, it is possible to smoothly and safely travel on various steps and obstacles.

Note that the moving body of the present invention uses only one moving body of a vehicle if the person has excellent idle movement ability by widening the tire width of the wheels 3 or using the auxiliary idler wheels 4. And you can enjoy driving.
Conversely, for beginners, both ends of the shaft connected by the universal joint are connected to the central side surfaces of the left and right moving bodies in a rotatable and detachable manner so that both moving bodies always have a predetermined interval. It can also be maintained, and you can enjoy traveling easily and safely.

  According to the mobile body of the present invention, it is not only used for sports and entertainment, but also assists the mobile body to get over steps as long as it is possible to stand up even if it is an elderly person or a disabled person who is difficult to walk. By providing an auxiliary device such as operating the hydraulic elevator to be operated with an operation device provided on the grip, it is possible to enjoy free walking.

DESCRIPTION OF SYMBOLS 1 Mobile body 2 Step 3 Wheel 4 Auxiliary idler wheel 5 Motor 6 Gear 7 Toothed belt 8 Wheel shaft 9 Control apparatus 10a, 10b Battery 11 DC / DC converter 12 Force sensor 13 Rate gyro 14 Accelerometer 15 Rotary encoder 16 Cylindrical shape Mounting part 17 Handlebar 18 Stopper

Claims (8)

A riding movement device that combines a pair of one-leg-mounted moving bodies,
Each moving body includes a step in which one foot is placed on the upper surface, a wheel that is rotatably supported, a motor that drives the wheel, and a control device that controls the motor.
The control device balances the pitch direction based on the angle in the pitch direction of each moving body, the detection value of the sensor that detects the angular velocity, and the detection value of the sensor that detects the wheel rotation angular velocity,
A riding movement apparatus comprising means for controlling a traveling direction and a traveling speed of each moving body based on a pitch angle of each moving body.   2. The riding movement according to claim 1, wherein a force sensor is provided on the stepping or moving step in the step for detecting whether or not a user is on board or a wheel is lifted from the ground. apparatus.   The riding and moving apparatus according to claim 1 or 2, wherein a fixing portion formed by combining a toe insertion portion or a belt for fixing a user's foot or shoes is provided in the step.   The riding movement apparatus according to claim 1, wherein a cylindrical portion to which a handle bar having a user grip at an upper end is detachably attached is provided at an upper end of the moving body.   The riding movement apparatus according to claim 4, wherein the user grip is provided with a controller for switching power on / off and a control mode of the control apparatus.   5. The control device according to claim 1, wherein the control device is provided with a wireless transmitter / receiver such as an infrared ray or a radio wave, and the controller is turned on / off and the control mode is switched by a movement of a controller attached to a user. Passenger movement device.   The control device is provided with a wireless transmitter / receiver such as an infrared ray or radio wave so that when one moving body is lifted, a control signal is sent to the control device of the other moving body so that the other moving body is stationary or locked. The riding / moving apparatus according to claim 1.   The riding and moving apparatus according to claim 1, wherein both end portions of a shaft coupled by a universal joint can be rotatably and detachably connected to each central side surface portion of the movable body.

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