JP2011063182A - Inverted-pendulum mobile body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an inverted-pendulum mobile body capable of allowing the mobile body to follow a preceding mobile body even when a plurality of mobile bodies are connected to each other and run. <P>SOLUTION: A vehicle 1 includes a base body 9, a moving motion unit 5 connected to the base body 9 and consisting of at least one wheel and capable of moving the base body 9 in the longitudinal direction and in the right-to-left direction, and a control unit for controlling the operation of the moving motion unit 5. The vehicle further includes a first hook part for mounting a string-like body 4 connected to a succeeding vehicle 1b, and a second hook part 45 for mounting the string-like body 4 connected to the preceding vehicle 1a. The first hook part is mounted below the second hook part 45. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an inverted pendulum type moving body.

  Conventionally, the present applicant has proposed an omnidirectional vehicle that can move in all directions (two-dimensional all directions) on a floor surface using an inverted pendulum type moving body (for example, a patent) Reference 1). The omnidirectional vehicle (hereinafter referred to as a vehicle) found in this Patent Document 1 is a spherical, wheel-like or crawler-like moving operation unit (moving) that can move in all directions on the floor surface while being in contact with the floor surface. The operation unit) and an actuator device having an electric motor or the like for driving the movement operation unit are assembled to the base.

  In the vehicle described above, the moving operation unit is driven by the actuator device so that the vehicle is moved so that the center of gravity of the occupant and the entire vehicle is positioned almost directly above the grounding surface of the moving operation unit. Is called.

International Publication No. 2008/132777

  By the way, various uses can be considered for the vehicle mentioned above. For example, it is conceivable that a plurality of vehicles are connected in a line in the front-rear direction by using a string-like body such as a wire or a chain, and the vehicle traveling in the back is pulled by the vehicle traveling in the front. . Specifically, when another vehicle (hereinafter referred to as a forward vehicle and a rear vehicle) is connected in the front-rear direction of the host vehicle, when the front vehicle is first driven, a string-like body is attached to the host vehicle by the driving force of the front vehicle. A tensile force acts along the traveling direction of the vehicle ahead through the vehicle. When the host vehicle is tilted toward the traveling direction of the preceding vehicle by this tensile force, the center of gravity of the host vehicle changes, and the host vehicle travels following the preceding vehicle. Further, similarly to the above-described operation, the rear vehicle follows the host vehicle and travels.

  However, depending on the attachment position of the string-like body, there is a problem in that the host vehicle cannot travel following the vehicle ahead due to the tensile force acting from another vehicle via the string-like body. Specifically, when the rear vehicle is pulled by the host vehicle, a tensile force acts from the rear vehicle as a reaction force of the driving force of the host vehicle. Due to the tensile force, a moment around the pitch axis that tilts backward about the grounding point of the moving operation unit is generated in the host vehicle. That is, the moment around the pitch axis acting on the host vehicle from the rear vehicle acts in a direction that hinders the operation of following the host vehicle ahead of the host vehicle. As a result, there is a problem that the movement of the center of gravity of the host vehicle decreases in the traveling direction, and the host vehicle cannot follow the preceding vehicle.

  Therefore, the present invention has been made in view of the above-described problems, and even when a plurality of moving bodies are connected to run, the moving body can be made to smoothly follow the front moving body. An object is to provide a pendulum type moving body.

  In order to solve the above-described problems, an inverted pendulum type moving body of the present invention includes a base, a moving operation unit including at least one wheel connected to the base and capable of moving the base in the front-rear and left-right directions, In an inverted pendulum type moving body having a drive section that drives a moving operation section and a control section that controls the drive section, a first string to which a first string-like body connected to a moving body that travels behind is attached And a second string-like body attaching part for attaching a second string-like body connected to a moving body traveling forward, wherein the first string-like body attaching part includes the second string. It is characterized in that it is attached below the attachment part of the shape body.

  According to this configuration, the first string-like body is connected to the first string-like body attaching portion of the inverted pendulum moving body (hereinafter referred to as the self-moving body), so that the self-movement is performed via the first string-like body. A moving body that travels behind the body (hereinafter referred to as a backward moving body) can be connected. On the other hand, by connecting the second string-like body to the second string-like body attachment portion of the self-moving body, the mobile body that travels forward of the self-moving body via the second string-like body (hereinafter referred to as forward movement). Body)). Thereby, it can be made to drive | work with the several mobile body connected with the string-like body.

In this case, since the first string-shaped body mounting portion is disposed below the second string-shaped body mounting portion, the length of the moment arm of the tensile force acting from the first string-shaped body (movement on the floor surface) The distance from the grounding point of the moving part to the first string-like body attaching part) is the length of the moment arm of the tensile force acting from the second string-like body (the grounding point of the moving moving part on the floor surface to the second string) It is shorter than the distance to the attachment part).
As a result, the moving body is pulled by the rear moving body, so that the moment around the grounding point due to the tensile force acting from the first string-like body is pulled by the front moving body, This is smaller than the moment around the ground contact point caused by the tensile force acting from the second string-like body. In other words, the moment acting from the first string-like body can be suppressed, and the influence of the action of the backward moving body acting on the own moving body can be reduced. Therefore, the self-moving body is smoothly pulled by the front moving body by the moment acting from the second string-like body. As a result, it is possible to improve the followability of the self-moving body with respect to the front moving body, and the self-moving body can run smoothly.

In addition, a load sensor is attached below the second string attachment part and above the first string attachment part.
According to this configuration, only the force from the forward moving body can be detected and used for controlling the moving operation unit.

  According to the present invention, by connecting the first string-like body to the first string-like body attaching portion of the self-moving body, the rear moving body of the self-moving body is connected via the first string-like body. Can do. On the other hand, by connecting the second string-like body to the second string-like body attaching portion of the self-moving body, the front moving body can be connected to the front of the self-moving body via the second string-like body. . Thereby, it can be made to drive | work with the several mobile body connected with the string-like body.

In this case, since the first string-shaped body mounting portion is disposed below the second string-shaped body mounting portion, the length of the moment arm of the tensile force acting from the first string-shaped body (movement on the floor surface) The distance from the grounding point of the moving part to the first string-like body attaching part) is the length of the moment arm of the tensile force acting from the second string-like body (the grounding point of the moving moving part on the floor surface to the second string) It is shorter than the distance to the attachment part).
As a result, the moving body is pulled by the rear moving body, so that the moment around the grounding point due to the tensile force acting from the first string-like body is pulled by the front moving body, This is smaller than the moment around the ground contact point caused by the tensile force acting from the second string. That is, the moment acting from the first string-like body can be suppressed, and the influence of the action of the backward moving body acting on the own moving body can be reduced. Accordingly, the self-moving body is smoothly pulled by the front moving body by the moment acting from the second string-like body. As a result, it is possible to improve the followability of the self-moving body with respect to the front moving body, and the self-moving body can run smoothly.

It is a front view of the vehicle in the embodiment of the present invention. It is a side view of a vehicle. It is an expanded sectional view of the lower part (movement operation part and actuator device) of vehicles. It is an expansion perspective view of the lower part (movement operation part and actuator device) of vehicles. It is a perspective view of a wheel body. It is a figure which shows the arrangement | positioning relationship between a wheel body and a free roller. It is sectional drawing which follows the BB line of FIG. It is a side view showing the state where a plurality of vehicles in an embodiment of the present invention were connected.

Embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a front view of the vehicle, and FIG. 2 is a side view.
As shown in FIGS. 1 and 2, the omnidirectional vehicle 1 (hereinafter referred to as the vehicle 1) of the present embodiment uses a string-like body 4 (first string-like body, second string-like body) in the front-rear direction. The other vehicle 1 is configured to be connectable. Specifically, the vehicle 1 has a seat 3 on which an occupant (driver) gets on, and all directions (two-dimensional all directions including the front-rear direction and the left-right direction) on the floor surface F while being in contact with the floor surface F. ) Movable movement unit 5, actuator device 7 for applying power for driving this movement unit 5 to movement unit 5, and these sheet 3, movement unit 5 and actuator unit 7 are assembled. The base 9 is provided.

Here, in the description of the present embodiment, “front-rear direction” and “left-right direction” are directions that match or substantially coincide with the front-rear direction and the left-right direction of the upper body of the occupant who has boarded the seat 3 in a standard posture, respectively. Means. The “standard posture” is a posture assumed in terms of design with respect to the seat 3 and is a posture in which the trunk axis of the upper body of the occupant is substantially directed vertically and the upper body is not twisted. It is.
In this case, in FIG. 1, the “front-rear direction” and the “left-right direction” are the direction perpendicular to the paper surface and the left-right direction of the paper surface, respectively. In FIG. This is the left-right direction of the page and the direction perpendicular to the page. In the description of the present embodiment, the suffixes “R” and “L” attached to the reference numerals are used to mean the right side and the left side of the vehicle 1, respectively.

The base body 9 includes a lower frame 11 in which the moving operation unit 5 and the actuator device 7 are assembled, and a support frame 13 extending upward from the upper end of the lower frame 11.
The support frame 13 has an upper half part 13 a and a lower half part 13 b connected by a six-axis force sensor 8. The 6-axis force sensor 8 is a sensor for measuring the forces and moments in the 3-axis directions. A seat frame 15 projecting forward from the support frame 13 is fixed to the upper part of the support frame 13 on the upper half 13a side. A seat 3 on which an occupant sits is mounted on the seat frame 15. Therefore, the vehicle 1 in the present embodiment moves on the floor surface F with the occupant seated on the seat 3.
Further, on the left and right sides of the seat 3, grips 17R and 17L are disposed for the passengers seated on the seat 3 to grip as necessary, and these grips 17R and 17L are respectively provided to the support frame 13 (or the seat frame 15). It is being fixed to the front-end | tip part of bracket 19R, 19L extended from.

The lower frame 11 includes a pair of cover members 21R and 21L arranged so as to be opposed to each other in a bifurcated manner with an interval in the left-right direction. The upper end portions (bifurcated branch portions) of these cover members 21R and 21L are connected via a hinge shaft 23 having a longitudinal axis, and one of the cover members 21R and 21L is hinged relative to the other. It can swing around a shaft 23 (roll shaft). In this case, the cover members 21R and 21L are urged by a spring (not shown) in a direction in which the lower end side (bifurcated tip side) of the cover members 21R and 21L is narrowed.
Further, a step 25R for placing the right foot of the occupant seated on the seat 3 and a step 25L for placing the left foot are respectively provided on the outer surface portions of the cover members 21R and 21L so as to protrude rightward and leftward. .

FIG. 3 is an enlarged cross-sectional view of the lower part of the vehicle (the moving operation unit and the actuator device), and FIG. 4 is a perspective view. FIG. 5 is a perspective view of the moving operation unit (wheel body), and FIG. 6 is a diagram showing the arrangement relationship between the moving operation unit (wheel body) and the free roller.
As shown in FIGS. 3 to 6, the moving operation unit 5 and the actuator device 7 are disposed between the cover members 21 </ b> R and 21 </ b> L of the lower frame 11. Specifically, the moving operation unit 5 is a wheel body formed in an annular shape by a rubber-like elastic material or the like, and has a substantially circular cross-sectional shape. As shown by the arrow Y1 in FIGS. 5 and 6, the moving operation unit 5 (hereinafter referred to as the wheel body 5) has a circular cross section center C1 (more specifically, a circular cross section center C1) as indicated by an arrow Y1 in FIGS. And can be rotated around a circumferential line that is concentric with the axis of the wheel body 5. The wheel body 5 is disposed between the cover members 21R and 21L with its axis C2 (axis C2 orthogonal to the diameter direction of the entire wheel body 5) directed in the left-right direction. Ground to the floor at the lower end of the surface.
The wheel body 5 rotates around the axis C2 of the wheel body 5 as shown by an arrow Y2 in FIG. 5 (rotated on the floor surface F) by driving by the actuator device 7 (details will be described later). Operation) and an operation of rotating around the cross-sectional center C1 of the wheel body 5 can be performed. As a result, the wheel body 5 can move in all directions on the floor surface F by a combined operation of these rotational operations.

The actuator device 7 includes a rotating member 27R and a free roller 29R interposed between the wheel body 5 and the right cover member 21R, and a rotating member interposed between the wheel body 5 and the left cover member 21L. 27L and free roller 29L, electric motor 31R as an actuator disposed above rotating member 27R and free roller 29R, and electric motor 31L as an actuator disposed above rotating member 27L and free roller 29L ing.
The electric motors 31R and 31L have their respective housings attached to the cover members 21R and 21L. Although not shown, the power sources (capacitors) of the electric motors 31R and 31L are mounted at appropriate positions on the base 9, such as the support frame 13.

  The rotating member 27R is rotatably supported by the cover member 21R via a support shaft 33R having a horizontal axis. Similarly, the rotation member 27L is rotatably supported by the cover member 21L via a support shaft 33L having a horizontal axis. In this case, the rotation axis of the rotation member 27R (axis of the support shaft 33R) and the rotation axis of the rotation member 27L (axis of the support shaft 33L) are coaxial. The rotating members 27R and 27L are connected to the output shafts of the electric motors 31R and 31L via power transmission mechanisms including functions as speed reducers, respectively, and the power (torque) transmitted from the electric motors 31R and 31L, respectively. It is rotationally driven by.

  Each power transmission mechanism is of a pulley-belt type, for example. That is, as shown in FIG. 3, the rotating member 27R is connected to the output shaft of the electric motor 31R via the pulley 35R and the belt 37R. Similarly, the rotating member 27L is connected to the output shaft of the electric motor 31L via a pulley 35L and a belt 37L. The power transmission mechanism may be constituted by, for example, a sprocket and a link chain, or may be constituted by a plurality of gears. In addition, for example, the electric motors 31R and 31L are arranged to face the rotating members 27R and 27L so that the respective output shafts are coaxial with the rotating members 27R and 27L, and the electric motors 31R and 31L are respectively arranged. The output shaft may be connected to each of the rotating members 27R and 27L via a speed reducer (such as a planetary gear device).

Each of the rotating members 27R and 27L is formed in the same shape as a truncated cone that is reduced in diameter toward the wheel body 5, and the outer peripheral surfaces thereof are tapered outer peripheral surfaces 39R and 39L. A plurality of free rollers 29R are arranged around the tapered outer peripheral surface 39R of the rotating member 27R so as to be arranged at equal intervals on a circumference concentric with the rotating member 27R. Each of these free rollers 29R is attached to the tapered outer peripheral surface 39R via the bracket 41R and is rotatably supported by the bracket 41R.
Similarly, a plurality (the same number as the free rollers 29R) of free rollers 29L are arranged around the tapered outer peripheral surface 39L of the rotating member 27L so as to be arranged at equal intervals on a circumference concentric with the rotating member 27L. Yes. Each of these free rollers 29L is attached to the tapered outer peripheral surface 39L via the bracket 41L, and is rotatably supported by the bracket 41L.

The wheel body 5 described above is disposed coaxially with the rotating members 27R and 27L so as to be sandwiched between the free roller 29R on the rotating member 27R side and the free roller 29L on the rotating member 27L side.
In this case, as shown in FIGS. 1 and 6, each of the free rollers 29 </ b> R and 29 </ b> L has the axis C <b> 3 inclined with respect to the axis C <b> 2 of the wheel body 5 and the diameter direction of the wheel body 5 (the wheel body 5. When viewed in the direction of the axis C2, it is arranged in a posture inclined with respect to the radial direction connecting the axis C2 and the free rollers 29R and 29L. In such a posture, the outer peripheral surfaces of the free rollers 29R and 29L are pressed against the inner peripheral surface of the wheel body 5 in an oblique direction. More generally speaking, the free roller 29R on the right side has a frictional force component in the direction around the axis C2 at the contact surface with the wheel body 5 when the rotating member 27R is driven to rotate around the axis C2. (The frictional force component in the tangential direction of the inner periphery of the wheel body 5) and the frictional force component in the direction around the cross-sectional center C1 of the wheel body 5 (the tangential frictional force component in the circular cross section) The wheel body 5 is pressed against the inner peripheral surface in such a posture that it can act on the wheel body 5. The same applies to the left free roller 29L.

  In this case, as described above, the cover members 21R and 21L are urged by a spring (not shown) in a direction in which the lower end side (the bifurcated tip side) of the cover members 21R and 21L is narrowed. Therefore, the wheel body 5 is sandwiched between the right free roller 29R and the left free roller 29L by this urging force, and the free rollers 29R and 29L are pressed against the wheel body 5 (more specifically, free The pressure contact state in which a frictional force can act between the rollers 29R and 29L and the wheel body 5 is maintained.

In the vehicle 1 having the structure described above, when the rotating members 27R and 27L are driven to rotate at the same speed in the same direction by the electric motors 31R and 31L, the wheel body 5 has the same direction as the rotating members 27R and 27L. Will rotate around the axis C2. Thereby, the wheel body 5 rotates on the floor surface in the front-rear direction, and the entire vehicle 1 moves in the front-rear direction. In this case, the wheel body 5 does not rotate around the center C1 of the cross section.
Further, for example, when the rotating members 27R and 27L are rotationally driven in opposite directions at the same speed, the wheel body 5 rotates around the center C1 of the cross section. As a result, the wheel body 5 moves in the direction of the axis C2 (that is, the left-right direction), and as a result, the entire vehicle 1 moves in the left-right direction. In this case, the wheel body 5 does not rotate around the axis C2.

Furthermore, when the rotating members 27R and 27L are rotationally driven at different speeds (speeds including directions) in the same direction or in the opposite direction, the wheel body 5 rotates around its axis C2, It will rotate about the cross-sectional center C1.
At this time, the wheel body 5 moves in a direction inclined with respect to the front-rear direction and the left-right direction by a combined operation (composite operation) of these rotational operations, and as a result, the entire vehicle 1 moves in the same direction as the wheel body 5. Will be. The moving direction of the wheel body 5 in this case changes depending on the difference in rotational speed (rotational speed vector in which the polarity is defined according to the rotational direction) including the rotational direction of the rotating members 27R and 27L. .

  Since the moving operation of the wheel body 5 is performed as described above, by controlling the respective rotational speeds (including the rotational direction) of the electric motors 31R and 31L, and by controlling the rotational speeds of the rotating members 27R and 27L, The moving speed and moving direction of the vehicle 1 can be controlled.

In the vehicle 1 of the present embodiment, in order to prevent the base body 9 from tilting, the center of gravity G of the occupant and the vehicle 1 as a whole (the center of gravity of the vehicle 1 alone when no occupant is on the vehicle 1). Need to move the wheel body 5 so that is positioned almost directly above the ground contact point T of the wheel body 5.
Therefore, in the present embodiment, the center of gravity G of the entire occupant and vehicle 1 is located almost directly above the center point of the wheel body 5 (center point on the axis C2) (more precisely, the center of gravity point G). Is the target posture, and the wheel body is basically set so that the actual posture of the base body 9 converges to the target posture. 5 movement operations are controlled.
Further, when the vehicle 1 is turned, for example, the occupant grounds his / her foot on the floor F and changes the direction of the wheel body 5 separately from the driving force of the vehicle 1 as necessary. Can be swiveled.

  In order to perform the operation control as described above, in the present embodiment, as shown in FIGS. 1 and 2, the six-axis force sensor 8 that couples the upper half portion 13a and the lower half portion 13b of the column frame 13 described above, A control unit (control unit) 50 constituted by an electronic circuit unit including a microcomputer and drive circuit units of the electric motors 31R and 31L, an inclination angle θb with respect to a vertical direction (gravity direction) of a predetermined portion of the base 9, and its An inclination sensor 52 for measuring the change speed (= dθb / dt), a load sensor 54 for detecting whether or not an occupant is on the vehicle 1, and each output shaft of the electric motors 31R and 31L. Rotary encoders 56 </ b> R and 56 </ b> L as angle sensors for detecting the rotation angle and the rotation angular velocity are mounted at appropriate positions on the vehicle 1. The control unit 50 described above is accommodated, for example, in the lower half 13b of the support frame 13 of the base 9, while the inclination sensor 52 is accommodated in the upper half 13a. The load sensor 54 is built in the seat 3. The rotary encoders 56R and 56L are provided integrally with the electric motors 31R and 31L, respectively. The rotary encoders 56R and 56L may be attached to the rotating members 27R and 27L, respectively.

The six-axis force sensor 8 detects a force and a moment acting on the upper half 13 a of the support frame 13 and outputs a detection signal to the control unit 50. Then, the control unit 50 executes a predetermined measurement calculation process (this may be a known calculation process) based on the output of the six-axis force sensor 8, whereby the force and moment acting on the upper half portion 13 a are calculated. Calculate the direction and size.
The inclination sensor 52 includes an acceleration sensor and a rate sensor (angular velocity sensor) such as a gyro sensor, and outputs detection signals of these sensors to the control unit 50. Then, the control unit 50 performs a predetermined measurement calculation process (this may be a known calculation process) based on the outputs of the acceleration sensor and the rate sensor of the tilt sensor 52, and thereby the part on which the tilt sensor 52 is mounted. The measured value of the inclination angle θb of the vertical frame 13 (in this embodiment) with respect to the vertical direction and the measured value of the inclination angular velocity θbdot, which is the rate of change (differential value) thereof, are calculated.

  The load sensor 54 is built in the seat 3 so as to receive a load due to the weight of the occupant when the occupant sits on the seat 3, and outputs a detection signal corresponding to the load to the control unit 50. Then, the control unit 50 determines whether or not an occupant is on the vehicle 1 based on the measured load value indicated by the output of the load sensor 54. Instead of the load sensor 54, for example, a switch type sensor that is turned on when an occupant sits on the seat 3 may be used.

  The rotary encoder 56R generates a pulse signal every time the output shaft of the electric motor 31R rotates by a predetermined angle, and outputs this pulse signal to the control unit 50. Then, the control unit 50 measures the rotational angle of the output shaft of the electric motor 53R based on the pulse signal, and further calculates the temporal change rate (differential value) of the measured value of the rotational angle as the rotational angular velocity of the electric motor 53R. Measure as The same applies to the rotary encoder 56L on the electric motor 31L side.

The control unit 50 outputs, based on the output of the load sensor 54, a boarding mode that is an operation mode of the vehicle 1 when the occupant is on board and an autonomous mode that is an operation mode of the vehicle 1 when the occupant is not boarding. In distinction, a target value of the base body tilt angle is set. Then, the rotational speeds of the electric motors 31R and 31L are controlled so that the measured value of the tilt angle θb by the tilt sensor 52 matches the target value of each mode and the tilt angular velocity θbdot becomes zero. For controlling the rotational speed of each of the electric motors 31R and 31L, a speed command that is a target value of the rotational angular speed of each of the electric motors 31R and 31L is determined, and the electric motor detected by the rotary encoders 56R and 56L according to the speed command. The rotational angular velocities of 31R and 31L are feedback controlled.
Further, the maximum speed of the vehicle 1 is limited by a speed limiter built in the control unit 50. In this case, the speed limit for moving backward is set slower than the speed limit for moving forward.

FIG. 7 is a cross-sectional view taken along line BB in FIG.
Here, as shown in FIGS. 2 and 7, the support frame 13 has a first link portion 43 for connecting the vehicle rearward to the vehicle 1 and a second link for connecting the vehicle 1 forward. The link part 42 is provided.

  First, the second link portion 42 is attached to the front surface side of the upper half portion 13a of the support frame 13, and is formed at the front end of the arm portion 44 and an arm portion 44 that extends forward and parallel to the horizontal plane. And a second hook part (second string-like body attaching part) 45. The arm portion 44 extends forward from a reference line (hereinafter referred to as a reference axis A) that connects the center of gravity G and the ground contact point T of the wheel body 20 described above, and a second hook portion is provided at the tip thereof. 45 is formed. The second hook portion 45 is a U-shaped member that opens upward, and is a vehicle disposed in front of the vehicle 1 (hereinafter referred to as the host vehicle 1) (hereinafter referred to as a forward vehicle 1a (FIG. 8), the string-like body (second string-like body) 4 is connected to be able to be locked. The string-like body 4 is configured to be swingable about the connecting portion with the second hook portion 45 as a swing center (see arrow J in FIG. 7). Note that, as described above, the vehicle 1 of the present embodiment is controlled so that the center of gravity G is located immediately above the grounding point T. Therefore, the reference axis A is the yaw axis (the normal of the floor surface F). And coaxial. Further, the center point of the wheel body 5 is arranged on the reference axis A.

On the other hand, the first link portion 43 is attached to the rear surface side of the lower half portion 13b of the column frame 13, and includes an arc-shaped rail 47 disposed so as to surround the rear side of the column frame 13, and the rail 47 and the column. A bracket 48 that connects the frame 13 and a slider mechanism 49 that is slidably mounted on the rail 47 are provided.
The rail 47 is an arc-shaped member having a central axis coaxially with the reference axis A described above, and a bracket 48 is provided so as to connect both ends in the circumferential direction and the support frame 13.

  The slider mechanism 49 includes a slider body 61 composed of a pair of rectangular plates arranged so as to sandwich the rail 47 from above and below, a plurality of (for example, four) rollers 62 rotatably supported by the slider body 61, And a first hook portion (first string-like body attaching portion) 63 formed on the slider main body 61.

Each roller 62 is disposed in a pair on the front side and the rear side of the slider body 61, and the rails 47 are sandwiched from both sides in the width direction by these rollers 62. Thereby, the slider main body 61 is configured to be slidable on the rail 47 via each roller 62. That is, the slider mechanism 49 is configured to be able to swing on the rail 47 around the reference axis A with the center of the rail 47 (reference axis A) as the center of swing (see arrow K in FIG. 7).
The first hook portion 63 protrudes downward from the rear end portion of the slider main body 61, and is connected to a vehicle (hereinafter referred to as a rear vehicle 1b (see FIG. 8)) disposed rearward with respect to the host vehicle 1. A string-like body (first string-like body) 4 for performing the connection is configured to be able to be locked. In this case, the first hook portion 63 is disposed behind the reference axis A described above. The string-like body 4 is configured to be swingable around the reference axis A in accordance with the swing operation of the slider mechanism 49 (see arrow K in FIG. 7). That is, the string-like body 4 connected to the first hook portion 63 swings with the reference axis A as an apparent swing center. Therefore, the second hook portion 45 described above is arranged at a position farther from the reference axis A than the swing center (reference axis A) of the string-like body 4.

  Thus, in the present embodiment, the second link portion 42 is connected to the upper half portion 13a of the support frame 13 and the first link portion 43 is connected to the lower half portion 13b, and the first link portion 43 is moved forward with respect to the reference axis A. The second hook part 45 of the two link part 42 is arranged behind the first hook part 63 of the first link part 43. Further, when the slider mechanism 49 is arranged at the center in the circumferential direction of the rail 47, a straight line connecting the second hook portion 43 and the first hook portion 63 when viewed from above and below is a center line in the left and right direction of the vehicle 1. And is perpendicular to the reference axis A. And the vehicle 1 of this embodiment latches the string-like body 4 in the 2nd hook part 45 and the 1st hook part 63 which were mentioned above, respectively, and the other vehicle (front vehicle) is ahead and back of the own vehicle 1. 1a and rear vehicle 1b) are configured to be connectable.

FIG. 8 is a side view showing a state in which a plurality of vehicles are connected.
As shown in FIG. 8, when connecting the front vehicle 1a and the back vehicle 1b before and behind the above-mentioned own vehicle 1, the 2nd hook part 45 of the own vehicle 1 and the 1st hook part 63 (FIG. 7) via the string-like body 4, while the first hook part 63 of the host vehicle 1 and the second hook part 45 of the rear vehicle 1b are bridged via the string-like body 4, Each vehicle 1, 1a, 1b is connected in a line in the front-rear direction. Thereby, each vehicle 1, 1a, 1b travels in a state where they are lined up in the front-rear direction. In addition, as a constituent material of the string-like body 4, a material formed by bundling fibers, a metal wire, a chain, rubber, or the like can be used.

  The string-like body 4 is connected to the hook portions 45 and 63 so as to be swingable corresponding to the relative positions of the vehicles 1, 1a and 1b. Specifically, the string-like body 4 connected to the second hook portion 45 of the host vehicle 1 is configured to be able to swing along the position of the front vehicle 1a with the second hook portion 45 as the swing center. Yes. On the other hand, since the slider mechanism 49 of the first link portion 43 is configured to be swingable around the central axis (reference axis A) of the rail 47, it is a string shape connected to the first hook portion 63 of the host vehicle 1. The body 4 is configured to be swingable around the reference axis A along with the swing operation of the slider mechanism 49. That is, the string-like body 4 connecting the host vehicle 1 and the rear vehicle 1b is configured to be swingable with the reference axis A as an apparent swing center.

Here, schematic operation control of the vehicle 1 will be described. Basically, when the base body 9 is tilted (for example, an occupant seated on the seat 3 has an overall center of gravity G that combines the occupant and the vehicle 1). When the upper body is tilted so as to move the position (see FIG. 2), the moving operation of the wheel body 5 is controlled so that the vehicle 1 moves to the side on which the base body 9 is tilted. For example, when the occupant tilts the upper body forward, and consequently tilts the base body 9 together with the seat 3, the movement operation of the wheel body 5 is controlled so that the vehicle 1 moves forward.
That is, in the present embodiment, the operation of the occupant moving the upper body and, in turn, tilting the base body 9 together with the seat 3 is one basic control operation (operation request of the vehicle 1) for the vehicle 1, and the control The moving operation of the wheel body 5 is controlled via the actuator device 7 in accordance with the operation.

(Function)
Next, the operation will be described. Specifically, a case where a plurality of vehicles (the host vehicle 1, the front vehicle 1a, and the rear vehicle 1b) are connected by the string-like body 4 will be described. In the following description, when it is not necessary to distinguish the host vehicle 1, the forward vehicle 1a, and the rear vehicle 1b, they are collectively referred to as the vehicle 1.
As shown in FIG. 8, when the forward vehicle 1a is tilted forward, the forward vehicle 1a is controlled to move toward the tilted side, that is, forward. Then, the driving force of the forward vehicle 1a is transmitted to the second hook portion 45 of the host vehicle 1 via the string-like body 4, and acts as a tensile force F1 that pulls the host vehicle 1 forward. The tensile force F1 generates a moment around the pitch axis that tilts forward about the grounding point T in the host vehicle 1. Then, the center of gravity G of the host vehicle 1 (and the occupant) moves forward as the base body 9 of the host vehicle 1 tilts forward. Then, the wheel body 5 is controlled to move so that the center of gravity G is located almost directly above the ground contact point T of the wheel body 5. Thereby, the own vehicle 1 comes to follow ahead vehicle 1a and to drive ahead. The rear vehicle 1b travels forward following the host vehicle 1 by the same operation as described above.

  By the way, when the rear vehicle 1b is pulled by the host vehicle 1 during traveling, a tensile force F2 is applied to the first hook portion 63 of the host vehicle 1 from the rear vehicle 1b via the string-like body 4 as a reaction force of the driving force. Works. As a result, a moment around the pitch axis that tilts backward about the ground contact point T is generated in the host vehicle 1. That is, the moment around the pitch axis acting on the host vehicle 1 from the rear vehicle 1b acts in a direction that hinders the operation of the host vehicle 1 following the front vehicle 1a. As a result, the movement of the center of gravity G is reduced, and there is a possibility that the host vehicle 1 cannot follow the front vehicle 1a.

Here, in the present embodiment, the first hook portion 63 is disposed in the lower half portion 13 b of the support frame 13, while the second hook portion 45 is disposed in the upper half portion 13 a of the support frame 13. Therefore, the length of the moment arm of the tensile force acting from the rear vehicle 1b (distance from the ground point T to the first hook portion 63) is the length of the moment arm of the tensile force acting from the front vehicle 1a (the ground point T). To the second hook portion 45).
As a result, when the host vehicle 1 is pulled by the rear vehicle 1b, the moment resulting from the tensile force F2 acting on the first hook unit 63 is reduced by the second hook unit being pulled by the host vehicle 1 by the front vehicle 1a. It becomes smaller than the moment resulting from the tensile force F1 acting on 45. That is, it is possible to suppress the backward tilting moment that acts on the host vehicle 1 from the rear vehicle 1b, and to reduce the influence of the operation of the host vehicle 1 on the front vehicle 1a. As a result, the host vehicle 1 is smoothly pulled by the forward vehicle 1a due to the forward tilting moment acting from the forward vehicle 1a. As a result, the followability of the host vehicle 1 with respect to the forward vehicle 1a can be improved, and the host vehicle 1 can run smoothly.

  In the present embodiment, since the upper half 13a and the lower half 13b of the support frame 13 are connected by the six-axis force sensor 8, the force acting on the upper half 13a is applied to the six-axis force sensor 8. Only moments are detected. That is, the tensile force acting on the first hook portion 63 from the rear vehicle 1b is not detected. Thereby, only the tensile force which acts on the 2nd hook part 45 from the front vehicle 1a can be detected with high precision, and it can utilize for control of the wheel body 5. FIG. Specifically, the moving trajectory of the vehicle 1 is changed according to the magnitude of the force and moment detected by the six-axis force sensor 8, or the traveling trajectory when the host vehicle 1 is pulled from an oblique direction is controlled. Can be.

The technical scope of the present invention is not limited to the above-described embodiment, and includes various modifications made to the above-described embodiment without departing from the spirit of the present invention. That is, the specific structure and shape described in the embodiment are merely examples, and can be changed as appropriate.
For example, in the above-described embodiment, the case where the wheel body 20 is formed in an annular shape with a rubber-like elastic material has been described. However, the present invention is not limited to this.
Further, in the above-described embodiment, the case where the swing center (apparent swing center) of the string-like body 4 is arranged on the reference axis A has been described. It doesn't matter. However, also in this case, it is preferable that the second hook portion 45 is disposed at a position farther from the reference axis A than the swing center of the string-like body 4 connected to the first hook portion 63.

Moreover, you may make it the structure which connects the vehicle 1 of 3 or more units | sets. Further, if the preceding vehicle is an omnidirectional vehicle according to the present invention, the rear vehicle may not be an omnidirectional vehicle.
Further, in the above-described embodiment, the case where an occupant is on the vehicle 1 has been described. However, the present invention may be used when carrying a load or the like without the occupant. Further, for example, it can be used when an occupant gets on the front vehicle 1a, places a load on the rear vehicle 1b, and transports the load placed on the rear vehicle 1b.
Moreover, although embodiment mentioned above demonstrated the case where this invention was employ | adopted as the unicycle in which only one wheel body 5 was provided in the base | substrate 9, it is not restricted to this, You may provide multiple wheel bodies 5. FIG. Furthermore, as long as at least one wheel body 5 is movable in all directions, the other wheels may be driven wheels that rotate following the wheel body 5.

DESCRIPTION OF SYMBOLS 1 ... Vehicle (inverted pendulum type moving body) 1a ... Front vehicle (moving body) 1b ... Rear vehicle (moving body) 4 ... String-shaped body (first string-shaped body, second string-shaped body) 8 ... 6 axes Force sensor (load sensor) 45 ... second hook part (second string-like body attaching part) 50 ... control unit (control part) 63 ... first hook part (first string-like body attaching part)

Claims (2)

A substrate;
A moving operation unit comprising at least one wheel connected to the base body and capable of moving the base body in the front-rear and left-right directions;
A drive unit for driving the moving operation unit;
In an inverted pendulum type moving body having a control unit for controlling the driving unit,
A first string attachment portion for attaching a first string connected to a moving body traveling rearward;
A second string attachment part for attaching a second string connected to the moving body traveling forward,
The inverted pendulum type moving body, wherein the first string-like body attaching portion is attached below the second string-like body attaching portion.   2. The inverted pendulum type moving body according to claim 1, wherein a load sensor is attached below the second string-like body attaching portion and above the first string-like body attaching portion.

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