JP2011131620A - Inverted motorcycle, and method and program for controlling the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an inverted motorcycle improving safety by a simple construction, and a method and program for controlling the same. <P>SOLUTION: The inverted motorcycle 1 performs desired traveling while maintaining an inverted state according to a traveling operation of an occupant. The inverted motorcycle 1 includes: a detection means for detecting a recessed or projected portion on a road surface; and a control means for controlling vehicle movement according to the recessed or projected portion detected by the detection means. The detection means includes: an acceleration sensor 6 for detecting acceleration in the vehicle vertical direction; and a recess/projection detection section 51 for detecting the position and/or shape of the recess or projected portion based on the acceleration in the vehicle vertical direction detected by the acceleration sensor 6. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an inverted two-wheeled vehicle that performs a desired traveling while maintaining an inverted state according to a traveling operation of a passenger, a control method thereof, and a control program.

  In recent years, a mobile body has been developed that controls the rotation of a wheel so as to maintain its own posture by detecting its own posture information from detection signals from a gyro sensor, an acceleration sensor, etc., and performing an inversion control or the like. . For example, an inverted two-wheeled vehicle that travels with a human being onboard is known. The inverted two-wheeled vehicle detects rotation information of a wheel by a rotation sensor and performs desired driving while performing inversion control based on the detected rotation information. (See Patent Document 1).

JP 2006-315666 A

  By the way, the case where the inverted motorcycle shown in the above-mentioned patent document 1 is run in a safe area for the purpose of training, for example, is assumed. In this case, the inverted two-wheeled vehicle integrates the movement amount of the vehicle based on the rotation information of each wheel detected by the rotation sensor, and calculates its position. For this reason, when the error of each movement amount accumulates, there is a possibility that the vehicle is out of the region, and there is a concern that the safety is lowered. On the other hand, when the position of an inverted two-wheeled vehicle is detected by an external sensor or the like, the position detection accuracy is improved, but the system configuration is complicated, which may lead to an increase in cost.

  The present invention has been made to solve such problems, and has as its main object to provide an inverted motorcycle, a control method thereof, and a control program capable of improving safety with a simple configuration. .

  One aspect of the present invention for achieving the above object is an inverted two-wheeled vehicle that performs a desired traveling while maintaining an inverted state in accordance with a passenger's traveling operation, and detects an uneven portion formed on a road surface. And a control means for controlling the movement of the vehicle in accordance with the uneven portion detected by the detection means.

  In this aspect, the detection means includes an acceleration sensor that detects acceleration in the vehicle vertical direction, and the position and / or shape of the concavo-convex portion based on the acceleration in the vehicle vertical direction detected by the acceleration sensor. And an unevenness detecting unit for detecting.

  Moreover, in this one aspect, the unevenness detection unit determines at least one of the number, height, width, and frequency of the unevenness parts based on the acceleration in the vehicle vertical direction detected by the acceleration sensor. It may be calculated.

  Furthermore, in this one aspect, when the uneven portion is detected by the detecting means, the control means controls to reduce the moving speed or moving acceleration of the vehicle, control to stop the vehicle, and control to avoid an obstacle. And at least one of the controls for guiding to the target position may be performed.

  Furthermore, in this one aspect, the control means performs control to decelerate the moving speed of the vehicle when (a) the first uneven portion is detected by the detection means, and (b) the detection means. After the first concavo-convex portion is detected by the control, when the second concavo-convex portion is detected, control for stopping the vehicle may be performed.

  Furthermore, in this one aspect, a warning unit that performs a warning according to the uneven portion detected by the detection unit may be further provided.

  In this aspect, the traveling operation is performed by the movement of the center of gravity of the occupant, and the control means performs control to exercise and travel in a predetermined area defined by the uneven portions formed on the road surface. Also good.

  On the other hand, one aspect of the present invention for achieving the above object is a method for controlling an inverted motorcycle that performs a desired traveling while maintaining an inverted state according to a traveling operation of a passenger, and is formed on a road surface. The method for controlling an inverted two-wheeled vehicle may include a step of detecting a concavo-convex portion and a step of controlling movement of the vehicle in accordance with the detected concavo-convex portion.

  Another aspect of the present invention for achieving the above object is a control program for an inverted two-wheeled vehicle that performs a desired traveling while maintaining an inverted state according to a traveling operation of a passenger, and is formed on a road surface. A control program that causes a computer to execute a process of detecting an uneven part and a process of controlling movement of the vehicle according to the detected uneven part may be used.

  ADVANTAGE OF THE INVENTION According to this invention, the inverted motorcycle which can improve safety | security with a simple structure, its control method, and a control program can be provided.

It is a figure which shows an example of the predetermined area divided by the concave part or convex part formed in the road surface. 1 is a block diagram showing a schematic system configuration of an inverted motorcycle according to Embodiment 1 of the present invention. 1 is a front view showing a schematic configuration of an inverted motorcycle according to Embodiment 1 of the present invention. It is a block diagram which shows the schematic system configuration | structure of the control apparatus which concerns on Embodiment 1 of this invention. It is a side view which shows an example of the state which an inverted two-wheeled vehicle drive | works the convex-shaped part on a road surface. It is a figure which shows an example of the acceleration of the vehicle up-down direction detected by the acceleration sensor, when the inverted two-wheeled vehicle drive | works the convex part on the road surface. It is a figure which shows the example of 1 structure which formed the 3rd convex part S3 between 1st convex part S1 and 2nd convex part S2.

Embodiment 1 FIG.
Embodiment 1 of the present invention will be described below with reference to the drawings. In the inverted motorcycle 1 according to the first embodiment, for example, as shown in FIG. 1, the inside of a predetermined region S partitioned by concave portions or convex portions Sn (n = 1 to k) formed on the road surface, A desired traveling can be performed while maintaining an inverted state according to the traveling operation of the passenger.

  Here, the predetermined area S is, for example, a training area for running the inverted motorcycle 1 within the area to perform balance training, function training, rehabilitation training, and the like. Thus, by partitioning the training area with the concave portion or the convex portion Sn of the road surface, it is possible to perform training safely within the partitioned area. Further, in the predetermined region S, for example, a substantially circular paint is applied on the road surface, and a convex portion Sn is formed on the road surface by the paint so that the inverted motorcycle 1 can get over the road surface. For example, the concave portion may be formed in a polygonal shape, an elliptical shape, or the like, or any shape and forming method.

  FIG. 2 is a block diagram showing a schematic system configuration of the inverted motorcycle according to the first embodiment. FIG. 3 is a front view showing a schematic configuration of the inverted motorcycle according to the first embodiment. The inverted motorcycle 1 according to the first embodiment includes an attitude sensor 2, a rotation sensor 3, a pair of wheel drive units 4 </ b> L and 4 </ b> R, a control device 5, and an acceleration sensor 6.

  The inverted two-wheeled vehicle 1 is configured as a standing-type coaxial two-wheeled vehicle that can be ridden while a passenger is standing on the vehicle body 16, for example. The inverted motorcycle 1 is configured such that, for example, the passenger moves forward and backward by moving the center of gravity back and forth, and the passenger can turn left and right by moving the center of gravity left and right. . For example, the control device 5 performs control so that the inverted two-wheeled vehicle 1 performs a training run in a predetermined region S defined by a concave portion or a convex portion Sn formed on the road surface.

  The posture sensor 2 detects posture information such as a pitch angle, a pitch angular velocity, a pitch angular acceleration, a roll angle, a roll angular velocity, and a roll angular acceleration of the vehicle main body 16 of the inverted motorcycle 1. The posture sensor 2 detects, for example, the pitch angle (tilt angle) of the vehicle main body 16 generated by the passenger moving the center of gravity back and forth, and the vehicle generated by the passenger moving the center of gravity left and right. The roll angle (inclination angle) of the main body 16 (dividing steps 9L and 9R) can be detected.

  The posture sensor 2 is connected to the control device 5 and outputs the detected posture information of the vehicle body 16 to the control device 5. Note that the posture sensor 2 is constituted by, for example, a gyro sensor or an acceleration sensor. The pitch axis is an axis corresponding to the axles of the pair of wheels 7L and 7R. The roll axis is an axis that passes through the center of the vehicle body 16 and is parallel to the traveling direction of the inverted motorcycle 1.

  The rotation sensor 3 detects rotation information such as the rotation angle, rotation speed, and rotation acceleration of the wheels 7L and 7R provided in the inverted two-wheeled vehicle 1. The rotation sensor 3 is connected to the control device 5 and outputs the detected rotation information of the wheels 7L and 7R to the control device 5. The control device 5 calculates, for example, the moving amount, moving speed, or moving acceleration of the vehicle based on the rotation information such as the rotation angle of each wheel 7L, 7R detected by the rotation sensor 3, and the calculated moving amount, moving The current position of the vehicle can be calculated by integrating the speed or the moving acceleration.

  The pair of wheel drive units 4L, 4R drives the inverted motorcycle 1 by driving a pair of left and right wheels 7L, 7R rotatably provided on the inverted motorcycle 1. Each wheel drive unit 4L, 4R can be constituted by, for example, an electric motor and a reduction gear train connected to the rotating shaft of the electric motor so as to be able to transmit power. Each wheel drive unit 4L, 4R is connected to the control device 5 via drive circuits 8L, 8R, and drives each wheel 7L, 7R according to a control signal from the control device 5.

  The control device 5 is configured so that the inverted motorcycle 1 performs a desired travel (forward, reverse, acceleration, deceleration, stop, left turn, right turn, etc.) while performing the inverted control for maintaining the inverted state, for example. Each wheel drive unit 4L, 4R is controlled to control the rotation of each wheel 7L, 7R. Further, the control device 5 performs feedback control, robust control, and the like based on the posture information of the inverted motorcycle 1 detected by the posture sensor 2 and the rotation information of the wheels 7L and 7R detected by the rotation sensor 3. Well-known control is performed.

  For example, the control device 5 controls each wheel drive unit 4L, 4R according to the pitch angle of the vehicle body 16 detected by the attitude sensor 2 when the occupant moves the center of gravity back and forth. The inverted motorcycle 1 is moved forward or backward by controlling the rotation of 7L and 7R. The control device 5 controls the wheel drive units 4L and 4R according to the roll angle of the vehicle body 16 detected by the attitude sensor 2 when the occupant moves the center of gravity to the left and right. A rotation difference is produced between the wheels 7L and 7R, and the inverted motorcycle 1 is turned left or right.

  Note that the technique of the applicant's Japanese Patent No. 3722493 can be applied to the technique of performing turning control according to the roll angle of the vehicle body 16 inclined by the movement of the center of gravity of the passenger.

  Further, for example, the control device 5 multiplies the pitch angle of the vehicle body 16 detected by the attitude sensor 2 by a predetermined control gain to calculate the rotational torque of each wheel 7L, 7R. And the control apparatus 5 controls each wheel drive unit 4L and 4R so that the calculated rotational torque may arise in each wheel 7L and 7R.

  As a result, the control device 5 rotates the wheels 7L and 7R in the direction in which the vehicle body 16 is inclined, and returns the position of the center of gravity of the inverted two-wheeled vehicle 1 to the vertical line passing through the axles of the wheels 7L and 7R. Inverted control is performed. In addition, the control device 5 adds an appropriate rotational torque to each of the wheels 7L and 7R, thereby maintaining an inverted state in which the pitch angle of the vehicle body 16 does not exceed a certain value. According to the posture information from the posture sensor 2, the movement control of the inverted two-wheeled vehicle 1 such as forward, reverse, stop, deceleration, acceleration, left turn, right turn, etc. can be performed.

  With the vehicle control configuration described above, the inverted motorcycle 1 is configured such that, for example, the occupant moves forward and backward by moving the center of gravity back and forth and tilting the vehicle body 16 back and forth, and the occupant moves the center of gravity left and right. The vehicle body 16 can be turned left and right by tilting the vehicle body 16 left and right. When a turning operation is performed in a desired direction in which the passenger wants to turn, a turning operation unit (a turning ring, a handle 11, etc.) that supplies an operation signal corresponding to the operation to the control device 5 The structure which performs turning may be sufficient.

  For example, as shown in FIG. 3, the inverted two-wheeled vehicle 1 is configured as a coaxial two-wheeled vehicle, and includes a vehicle main body 16, wheels 7 </ b> L and 7 </ b> R, division steps 9 </ b> L and 9 </ b> R, a handle 11, and the like. The pair of left and right divided steps 9L and 9R is an example of a step plate on which the driver gets on. The vehicle body 16 supports each of the divided steps 9L and 9R so that the posture can be changed in the roll direction. The pair of left and right wheels 7L and 7R are rotatably supported by the vehicle body 16. The handle 11 is an operation lever that changes the posture of each of the dividing steps 9L and 9R in the roll direction via the vehicle body 16.

  Each of the divided steps 9L and 9R is carried by the driver on one foot, and is composed of a pair of flat plates that are formed to be approximately the same as or slightly larger than the size of the human foot. The vehicle body 16 is arranged in parallel with each other on the vehicle body upper member 12 and the vehicle body lower member 13, and is arranged on the left and right in parallel with each other and can rotate with the vehicle body upper member 12 and the vehicle body lower member 13. It is comprised as a parallel link mechanism which has a pair of side surface members 14L and 14R connected to.

  Between the vehicle body upper member 12 and the vehicle body lower member 13 of the parallel link mechanism, the angles formed by the vehicle body upper member 12 and the vehicle body lower member 13 and the pair of side members 14L and 14R are respectively maintained at right angles. A pair of coil springs 15L and 15R that generate a spring force are interposed. Wheel drive units 4L and 4R are attached to the outer surfaces of the pair of side members 14L and 14R, respectively. As described above, when the pair of wheels 7L and 7R supported by the pair of side members 14L and 14R via the pair of wheel drive units 4L and 4R are placed on the flat road surface E, the rotation centers of the pair of wheels 7L and 7R are the same axis. It will match on the heart line.

  The inverted motorcycle 1 is configured as a coaxial two-wheeled vehicle, but is not limited to this. For example, the inverted motorcycle 1 can be applied to any vehicle in which a traveling operation is performed by moving the center of gravity of a passenger and the inverted control is performed.

  The control device 5 includes, for example, a CPU (Central Processing Unit) 5a that performs control processing, arithmetic processing, and the like, a ROM (Read Only Memory) 5b that stores a control program executed by the CPU 5a, an arithmetic program, and processing data. The hardware configuration is centered on a microcomputer including a RAM (Random Access Memory) 5c and the like.

  The acceleration sensor 6 is attached to the vehicle body 16 and can detect acceleration in the vehicle vertical direction. The acceleration sensor 6 is connected to the control device 5 and outputs the detected acceleration in the vehicle vertical direction to the control device 5. In addition, you may detect the acceleration of a vehicle up-down direction using the sensor already installed in the inverted motorcycle 1, for example, the acceleration sensor 6 which comprises the attitude | position sensor 2, etc., without providing the special acceleration sensor 6. FIG. Thus, by using the existing acceleration sensor 6, the configuration can be further simplified and the cost can be further reduced.

  FIG. 4 is a block diagram illustrating a schematic system configuration of the control device according to the first embodiment. The control device 5 includes a concavo-convex detection unit 51 that detects the position and shape of the convex portion Sn (n = 1 to k) based on the vertical acceleration of the vehicle detected by the acceleration sensor 6, and the concavo-convex detection unit 51. And a control unit 52 that controls the moving speed and the moving acceleration of the vehicle based on the detected position and shape of the convex portion Sn.

  The unevenness detection unit 51 can calculate the number, height, width, frequency, and the like of the convex portions Sn based on the acceleration in the vehicle vertical direction detected by the acceleration sensor 6.

  For example, when three convex portions Sn are formed on the road surface as shown in FIG. 5 and the inverted motorcycle 1 travels on these convex portions Sn (n = 1 to 3), the acceleration sensor 6 is shown in FIG. As shown in FIG. 4, acceleration in the vehicle vertical direction is detected. That is, when each wheel 7L, 7R of the inverted motorcycle 1 gets on one edge part of each convex part Sn (1) and when it gets off from the other edge part (2), the acceleration sensor 6 moves in the vehicle vertical direction. Detect acceleration pulses. On the other hand, when the wheels 7L and 7R roll on the flat portion (3) of the convex portion Sn or the flat portion (4) between the convex portions Sn, the acceleration sensor 6 generates a pulse of acceleration in the vehicle vertical direction. Do not detect.

  Further, the unevenness detection unit 51 can calculate the height of the convex portion Sn based on the amplitude Y of the acceleration in the vehicle vertical direction detected by the acceleration sensor 6. Specifically, the unevenness detecting unit 51 increases the height of the convex portion Sn as the amplitude of the acceleration in the vehicle vertical direction detected by the acceleration sensor 6 increases, and conversely, detected by the acceleration sensor 6. As the amplitude of acceleration in the vehicle vertical direction decreases, the height of the convex portion Sn is decreased.

  Further, the unevenness detecting unit 51 determines the height of the convex portion Sn based on the interval X between the acceleration pulse in the vehicle vertical direction detected by the acceleration sensor 6 and the acceleration pulse adjacent thereto and the calculated moving speed of the vehicle. The width W can be calculated. Specifically, the unevenness detection unit 51 increases the width W of the convex portion Sn as the interval X between the acceleration pulse in the vehicle vertical direction detected by the acceleration sensor 6 and the acceleration pulse adjacent thereto increases. On the contrary, the width W of the convex portion Sn is decreased as the interval X between the acceleration pulse detected by the acceleration sensor 6 and the acceleration pulse adjacent thereto decreases.

  Furthermore, the unevenness detector 51 can calculate the number of convex portions Sn based on the number of pulses of acceleration in the vehicle vertical direction detected by the acceleration sensor 6. Specifically, when the unevenness detecting unit 51 detects an acceleration pulse corresponding to one edge portion of each convex portion Sn and an acceleration pulse corresponding to the other edge portion, one convex portion is detected. Sn is detected.

  Furthermore, the unevenness detector 51 can calculate the frequency of acceleration in the vertical direction of the vehicle (minute vibration) on the convex portion Sn. Here, the frequency of acceleration can be changed by changing the material, surface treatment, etc. which comprise convex-shaped part Sn, for example. As described above, the method for detecting the position and shape of the convex portion Sn on the road surface by the concave / convex detection unit 51 has been described. However, the concave / convex detection unit 51 also has the same concave portion on the road surface as the convex portion Sn. The position and shape can be detected by this method.

  The control unit 52 controls the wheel drive units 4L and 4R according to the position and shape of the convex portion Sn detected by the unevenness detection unit 51 to control the moving speed and the moving acceleration of the vehicle. For example, the control unit 52 controls each wheel drive unit 4L, 4R based on the convex portion Sn on the road surface detected by the unevenness detection unit 51 to reduce the moving speed or moving acceleration of the vehicle. Control for stopping the vehicle, control for avoiding an obstacle, control for guiding to a target position, and the like are performed.

  By the way, for example, when the convex portion Sn is formed on the road surface and the section of the training area S or the section with the obstacle is performed, there is an error in the movement amount calculated based on the rotation information of each wheel. It can be considered that an error occurs in the position of the vehicle due to accumulation.

  Even in this case, when the wheels 7L and 7R of the inverted motorcycle 1 try to exceed the convex portion Sn that defines the training region S and the like, the concave and convex detector 51 detects the vehicle vertical direction detected by the acceleration sensor 6. The convex portion Sn on the road surface is detected based on the acceleration. And if the convex-shaped part Sn on a road surface is detected by the unevenness | corrugation detection part 51, the control part 52 will control each wheel drive unit 4L, 4R, and will stop the control which reduces the moving speed of a vehicle, or a vehicle. Control, etc. Thereby, for example, the inverted motorcycle 1 can be reliably prevented from coming out of the training area S, or can be prevented from coming into contact with an obstacle or the like. Therefore, the safety of the inverted motorcycle 1 can be improved.

  The above-described improvement in safety can be realized with a simple configuration using only the existing acceleration sensor 6 provided in the inverted motorcycle 1 without using an external sensor or the like. That is, the safety of the inverted motorcycle 1 can be improved with a simple configuration.

Embodiment 2. FIG.
In the inverted two-wheeled vehicle 1 according to the second embodiment of the present invention, the control unit 52 of the control device 5 performs control to decelerate the moving speed of the vehicle when the first convex portion S1 is detected by the unevenness detection unit 51. (B) After the first convex portion S1 is detected by the concave / convex detection portion 51, when the second convex portion S2 is detected, control is performed to stop the vehicle.

  For example, as the predetermined region S, as shown in FIG. 1, a substantially convex first convex portion S1 on the road surface and a second convex portion S2 outside the first convex portion are formed. S1 and the second convex portion S2 are formed in a concentric circle shape. The first convex portion S1 has a small width W and is formed by a thin line, and warns the departure of the training area S. On the other hand, the second convex portion S2 has a large width W and is formed by a thick line, indicating a deviation from the training region S. Note that the shapes and positions of the first and second convex portions S1 and S2 are not limited to the above example, and may be arbitrary shapes and positions.

  When the unevenness detecting unit 51 calculates the width W and height of the convex portion Sn based on the acceleration in the vehicle vertical direction detected by the acceleration sensor 6 and detects the first convex portion S1, a first detection signal is generated. Output to the control unit 52. The control unit 52 controls the wheel drive units 4L and 4R according to the first detection signal from the unevenness detection unit 51 to perform control to reduce the moving speed of the vehicle. Thereby, the passenger can recognize that there is a possibility of deviating from the training area S, and can perform the avoidance operation quickly and reliably.

  Further, after detecting the first convex portion S1, the unevenness detecting unit 51 calculates the width W and height of the convex portion Sn based on the acceleration in the vehicle vertical direction detected by the acceleration sensor 6, and the second When the convex portion S <b> 2 is detected, a second detection signal is output to the control unit 52. The control unit 52 controls each wheel drive unit 4L, 4R according to the second detection signal from the unevenness detection unit 51 to perform control to stop the vehicle. Thereby, it can prevent more reliably that the inverted motorcycle 1 deviates from the training area | region S. FIG.

  Note that a third convex portion S3 may be further formed between the first convex portion S1 and the second convex portion S2, and the moving speed of the vehicle may be reduced stepwise. (FIG. 7). Specifically, when detecting the first convex portion S1, the unevenness detecting unit 51 outputs a first detection signal to the control unit 52, and the control unit 52 receives the first detection signal from the unevenness detecting unit 51. Accordingly, the moving speed of the vehicle is reduced to the first speed. Next, when detecting the third convex portion S3, the unevenness detecting unit 51 outputs a third detection signal to the control unit 52, and the control unit 52 responds to the third detection signal from the unevenness detecting unit 51. Thus, the moving speed of the vehicle is reduced to a second speed lower than the first speed. Thereafter, when detecting the second convex portion S2, the unevenness detection unit 51 outputs a second detection signal to the control unit 52, and the control unit 52 responds to the second detection signal from the unevenness detection unit 51. Stop the vehicle. Note that the amount of decrease in the moving speed may be set in proportion to the width W of the first and third convex portions S1 and S3.

  Thereby, the passenger can recognize the possibility that the inverted motorcycle 1 deviates from the training area S in a stepwise manner, and can prevent the deviation from the training area S. In the above example, the three convex portions S1, S2, and S3 are formed on the road surface. However, the number is not limited to this, and the number of the convex portions Sn to be formed may be arbitrary.

  Further, for example, as shown in FIG. 7, the unevenness detection unit 51 may recognize an obstacle or a target position in front by detecting a convex portion Sn formed like a barcode. Specifically, the unevenness detecting unit 51 calculates the width W and the interval of each convex portion Sn based on the acceleration in the vehicle vertical direction detected by the acceleration sensor 6, and detects the barcode information. And the control part 52 controls each wheel drive unit 4L and 4R based on the barcode information detected by the unevenness | corrugation detection part 51, and performs the control which avoids an obstruction, the control which guides to a target position, etc. . As a result, not only safety is improved, but also convenience is improved.

  Further, the control unit 52 may control the moving speed, moving acceleration, and the like of the vehicle based on the acceleration frequency in the vehicle vertical direction on the convex portion Sn calculated by the unevenness detecting unit 51. Specifically, the control unit 52 may decrease the moving speed of the vehicle as the frequency of acceleration in the vehicle vertical direction on the convex portion Sn calculated by the unevenness detecting unit 51 decreases.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.

  For example, in the above-described embodiment, the control unit 52 controls the wheel drive units 4L and 4R according to the position and shape of the convex portion Sn detected by the unevenness detection unit 51, and the vehicle moving speed or While controlling the movement acceleration, another warning device 17 may be operated. Examples of the warning device 17 include a warning light that turns on / flashes a warning light, a warning speaker that outputs a warning sound, a display device that displays a warning, and a warning on a contact portion of a passenger such as the handle 11 and divided steps 9L and 9R. Examples include a vibration device that generates vibration, a notification device that notifies a third party such as a training manager via wireless or the like.

  Specifically, when the first convex portion S1 is detected by the unevenness detecting unit 51, the control unit 52 performs control to reduce the moving speed of the vehicle and outputs a warning sound from the warning speaker of the warning device 17. It may be generated. Further, when the second convex portion S2 is detected by the unevenness detecting portion 51, the control portion 52 may perform control to stop the vehicle and turn on / flash the warning light of the warning device 17. The operation method of the warning device 17 is not limited to the above example, and can be arbitrarily combined. As a result, the passenger can more reliably recognize the possibility of deviation from the training area S, which leads to further improvement in safety.

  Further, the control unit 52 controls each wheel drive unit 4L, 4R according to the position and shape of the convex portion Sn detected by the unevenness detection unit 51, or controls to avoid an obstacle, or to a target position. Induction control may be performed.

  Specifically, the unevenness detector 51 calculates the position and shape of the convex portion Sn on the road surface based on the acceleration in the vehicle vertical direction detected by the acceleration sensor 6, and calculates the position and shape of the calculated convex portion Sn. Based on the above, the relative position and target position of the obstacle ahead are detected. And the control part 52 controls each wheel drive unit 4L and 4R so that the obstruction detected by the unevenness | corrugation detection part 51 may be avoided, for example. Or control part 52 controls each wheel drive unit 4L and 4R so that it may guide to the target position detected by unevenness detection part 51.

  In the above-described embodiment, the control unit 52 controls the movement of the vehicle according to the convex portion Sn on the road surface detected by the unevenness detection unit 51. However, the control unit 52 includes the unevenness detection unit. Similarly to the convex portion Sn, the movement of the vehicle is also controlled for the concave portion on the road surface detected by 51.

  In the above-described embodiment, the present invention has been described as a hardware configuration, but the present invention is not limited to this. In the present invention, arbitrary processing can be realized by causing the CPU 5a to execute a computer program.

  In this case, the computer program can be provided by being recorded on a recording medium, or can be provided by being transmitted via the Internet or another communication medium. The storage medium includes, for example, a flexible disk, a hard disk, a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD, a ROM cartridge, a battery-backed RAM memory cartridge, a flash memory cartridge, and a nonvolatile RAM cartridge. The communication medium includes a wired communication medium such as a telephone line, a wireless communication medium such as a microwave line, and the like.

DESCRIPTION OF SYMBOLS 1 Inverted motorcycle 2 Attitude sensor 3 Rotation sensor 4L, 4R Wheel drive unit 5 Control apparatus
6 Acceleration sensor 7L, 7R Wheel 17 Warning device 51 Concavity and convexity detection unit 52 Control unit

Claims (9)

An inverted two-wheeled vehicle that performs a desired traveling while maintaining an inverted state according to a traveling operation of a passenger,
Detecting means for detecting the uneven portion formed on the road surface;
An inverted motorcycle comprising: control means for controlling movement of the vehicle according to the concavo-convex portion detected by the detection means. The inverted motorcycle according to claim 1,
The detection means includes
An acceleration sensor for detecting acceleration in the vertical direction of the vehicle;
An inverted two-wheeled vehicle comprising: an unevenness detecting unit configured to detect the position and / or shape of the uneven portion based on the acceleration in the vehicle vertical direction detected by the acceleration sensor. An inverted motorcycle according to claim 1 or 2,
The unevenness detection unit calculates at least one of the number, height, width, and frequency of the unevenness parts based on the acceleration in the vehicle vertical direction detected by the acceleration sensor. An inverted motorcycle. An inverted motorcycle according to any one of claims 1 to 3,
The control means, when the concavo-convex portion is detected by the detection means, control to reduce the moving speed or moving acceleration of the vehicle, control to stop the vehicle, control to avoid the obstacle, and guidance to the target position An inverted motorcycle characterized by performing at least one of control to perform. An inverted motorcycle according to any one of claims 1 to 4,
The control means includes
(A) When the first concavo-convex portion is detected by the detection means, control is performed to reduce the moving speed of the vehicle,
(B) An inverted two-wheeled vehicle that controls to stop the vehicle when the second uneven portion is detected after the first uneven portion is detected by the detecting means. An inverted motorcycle according to any one of claims 1 to 5,
An inverted two-wheeled vehicle, further comprising warning means for giving a warning in accordance with the uneven portion detected by the detection means. An inverted motorcycle according to any one of claims 1 to 6,
The travel operation is performed by moving the center of gravity of the passenger,
The inverted two-wheeled vehicle characterized in that the control means performs control for training and traveling in a predetermined area defined by the uneven portions formed on the road surface. A method for controlling an inverted motorcycle that performs desired traveling while maintaining an inverted state according to a traveling operation of a passenger,
Detecting irregularities formed on the road surface;
And a step of controlling the movement of the vehicle in accordance with the detected concavo-convex portion. A control program for an inverted motorcycle that performs a desired travel while maintaining an inverted state in accordance with a traveling operation of a passenger,
A process for detecting uneven portions formed on the road surface;
A control program for causing a computer to execute processing for controlling movement of a vehicle in accordance with the detected uneven portion.

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