JP2011226831A - Apparatus and method of testing durability of two-wheeled inverted pendulum mobile robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an apparatus and method for testing durability that reproduces a state of a person who rides on a two-wheeled inverted pendulum vehicle.SOLUTION: A durability testing apparatus 1 of two-wheeled inverted pendulum vehicle incudes: right and left drive rollers 11L and 11R for applying a load on each of the right and left wheels 140L and 140R of the two-wheeled inverted pendulum vehicle 100; right and left roller driving means 12L and 12R for applying driving force to each of the right and left drive rollers 11L and 11R; load adjusting mens 20 for adjusting the load to be applied on a riding section 111 of the two-wheeled inverted pendulum vehicle 100; storage means 15 for storing actual travel data of the two-wheeled inverted pendulum vehicle 100; and control means 16 for controlling the right and left roller driving means 12L and 12R and the load adjusting means 20 on the basis of the actual travel data and causing control means of the two-wheeled inverted pendulum vehicle 100 to control the right and left wheels 140L and 140R on the basis of the actual travel data.

Description

  The present invention relates to an endurance test apparatus and an endurance test method for an inverted two-wheeled robot.

  Conventionally, as disclosed in, for example, Patent Documents 1 to 4, various endurance test apparatuses for automobiles have been developed.

  Patent Document 1 and Patent Document 2 disclose an automobile durability test apparatus that controls front wheel rollers and rear wheel rollers provided corresponding to front and rear wheels of an automobile with different output torques. According to this, it is possible to perform both endurance tests of a two-wheel drive vehicle and a four-wheel drive vehicle.

  Patent Document 3 discloses an automobile durability test apparatus that reproduces a stepped road surface by forming convex portions on drive rollers provided corresponding to front and rear wheels. Further, Patent Document 4 discloses an automobile durability test apparatus that reproduces a stepped road surface by disposing a plurality of expansion and contraction mechanisms inside an endless flat belt.

  In recent years, as disclosed in Patent Document 5, for example, an inverted two-wheeled vehicle that travels with a person on board has been developed. An inverted motorcycle detects its own posture information from the detection signals of the gyro sensor and acceleration sensor, and issues a rotation command (specifically, torque command, speed command, position command) to the motor to maintain its own posture. Calculate and send rotation command data to the motor controller. Therefore, the inverted two-wheeled vehicle can maintain its own posture by feedback control and can travel by changing the center of gravity posture of the passenger.

Japanese Patent Publication No. 3-7894 Japanese Patent Laid-Open No. 3-7895 JP-A-1-42022 JP 2005-30569 A JP 2006-315666 A

  However, the durability test apparatus disclosed in Patent Documents 1 to 4 is not configured to perform a test by applying a load to the step portion of the inverted motorcycle. For this reason, the durability test apparatuses disclosed in Patent Documents 1 to 4 cannot reproduce a state in which a person is on an inverted motorcycle.

  The present invention has been made to solve such a problem, and an object of the present invention is to provide an inverted motorcycle endurance test apparatus that can reproduce a state in which a person is on an inverted motorcycle. is there.

  An endurance test apparatus for an inverted motorcycle according to the present invention is an endurance test apparatus for an inverted motorcycle that realizes a turn by controlling a rotation difference between left and right wheels by operating a turning operation part. Left and right driving rollers for applying loads to the left and right wheels, left and right roller driving means for applying driving forces to the left and right driving rollers, load adjusting means for adjusting a load applied to the riding section, The storage means for storing the actual running data of the inverted motorcycle, the left and right roller driving means and the load adjusting means are controlled based on the actual running data, and the inverted motorcycle is controlled based on the actual running data. Control means for causing the control means to control the left and right wheels.

  Further, the vehicle further includes a turning operation unit driving means for providing a driving force for operating the turning operation unit of the inverted motorcycle, and the storage means stores operation data of the turning operation unit in the inverted motorcycle as actual traveling data. The control unit controls the turning operation unit driving unit based on the actual travel data stored in the storage unit.

  The storage means stores left and right wheel speed data and rotational torque data as actual running data of the inverted motorcycle, and the control means stores the left and right wheel speeds when actually running on the test road. Based on the rotational torque, the rotational torque of the left and right drive rollers is calculated, and the rotational torque is output to the left and right drive means.

  Further, the inverted motorcycle endurance test method according to the present invention includes setting an inverted motorcycle in an endurance test apparatus having roller driving means and load adjusting means, and controlling the roller driving means based on actual traveling data of the inverted motorcycle. The left and right drive rollers driven by the roller driving means apply a load to the left and right wheels of the inverted two-wheeled vehicle, and the load adjusting means applies a load to the riding portion of the inverted two-wheeled vehicle based on actual travel data.

  Further, the turning operation unit driving means provided in the durability test apparatus operates the turning operation unit of the inverted two-wheeled vehicle based on the actual travel data.

  The actual running data includes speed data and rotational torque data of the left and right wheels, and the rotational torque of the drive roller is controlled based on the speed data and rotational torque data of the left and right wheels.

  Provided are an endurance test apparatus and an endurance test method capable of reproducing a state where a person is on an inverted motorcycle.

1 is a diagram of an endurance test apparatus according to a first embodiment. 1 is a side view of an inverted motorcycle according to a first embodiment. 1 is a front view of an inverted motorcycle according to a first embodiment. 1 is a block diagram of an inverted motorcycle according to a first embodiment. It is a figure which shows the state of the test road driving | running | working concerning Embodiment 1. FIG. It is a figure which shows the change of the wheel speed concerning Embodiment 1. FIG. It is a figure which shows the change of the wheel torque concerning Embodiment 1. FIG. It is a figure which shows the change of the step load concerning Embodiment 1. FIG. It is a figure which shows the change of the handle operation load concerning Embodiment 1. FIG. It is a figure which shows the angle change of the turning operation part concerning Embodiment 1. FIG. FIG. 3 is a diagram illustrating a test path according to the first embodiment. FIG. 6 is a front view of an inverted motorcycle according to a second embodiment.

Embodiment 1
Hereinafter, an endurance testing apparatus for an inverted motorcycle according to the present invention will be described with reference to the drawings. However, the present invention is not limited to the following embodiment.

  As shown in FIG. 1, the durability test apparatus 1 includes a base 10, driving rollers 11 (11L, 11R), roller driving means 12 (12L, 12R), a weight part 13, a handle operating part 14, a storage means 15, and a control. Means 16.

An example of an inverted motorcycle 100 to be tested by the durability test apparatus 1 is shown in FIGS. 2, 3, and 4. FIG. 2 is a side view of the inverted motorcycle 100, and FIG. 3 is a front view of the inverted motorcycle 100. FIG. 4 is a block diagram of the inverted motorcycle 100.
The inverted motorcycle 100 controls the turning operation by operating the turning operation unit 120, for example. That is, when the driver operates the turning operation unit 120, the control unit 160 causes a rotation difference between the left and right wheels 140 </ b> L and 140 </ b> R based on the operation signal of the turning operation unit 120, thereby turning the inverted motorcycle 100. .

  Specifically, the inverted motorcycle 100 includes a vehicle body 110, a turning operation unit 120, a drive unit 130, wheels 140 (140L and 140R), an information transmission unit 150, and a control unit 160, as shown in FIGS. Is provided.

  The vehicle body 110 includes left and right step plates (boarding portions) 111L and 111R on which people board, and left and right step load measuring sensors 112 (112L and 112R). Typically, when the inverted motorcycle 100 is on a flat road surface, the left and right step plates 111L and 111R are provided so as to be horizontal. The step load measuring sensor 112 is disposed so as to be in contact with the left and right step plates 111L and 111R, and detects the load applied to the left and right step plates 111L and 111R. The load detected by the step load measuring sensor 112 is transmitted as step load data to the memory unit 170 provided outside the inverted motorcycle 100 via the information transmission unit 150. The memory unit 170 receives the step load data and accumulates the data. The step load measuring sensor 112 is typically a load meter attached to the upper surfaces of the step plates 111L and 111R.

The turning operation unit 120 includes a gripping part (handle) 121 (121L, 121R), a handle operation load measurement sensor 122, and an angle measurement sensor 123.
The turning operation unit 120 is operated by a passenger to realize turning of the inverted motorcycle 100. The turning operation unit 120 is, for example, an operation bar whose one end is coupled to the front center portion of the vehicle body 110 so as to be rotatable in the left-right direction of the vehicle body 110. Left and right handles 121L and 121R are formed at the other end of the turning operation unit 120 and are held by the passenger.
The handle operation load measuring sensor 122 (122L, 122R) is disposed so as to contact the left and right handles 121L, 121R, and detects the load applied to the handles 121L, 121R. The handle operation load measurement sensor 122 outputs an operation signal corresponding to the detected load to the control unit 160. Further, the load detected by the steering operation load measuring sensor 122 is transmitted as handle load data to the memory unit 170 provided outside the inverted motorcycle 100 via the information transmission unit 150.
The angle measurement sensor 123 is disposed at a connection portion between the turning operation unit 120 and the vehicle body 110 and detects the tilt angle of the turning operation unit 120. The angle measurement sensor 123 outputs an operation signal corresponding to the detected angle to the control unit 160. In addition, the angle detected by the angle measurement sensor 123 is transmitted as operation unit angle data to the memory unit 170 provided outside the inverted motorcycle 100 via the information transmission unit 150. The angle measurement sensor 123 is typically a potentiometer provided on a handle.
The memory unit 170 receives handle load data and operation unit angle data, and accumulates each data.

  The drive unit 130 includes left and right motors 131L and 131R. The left and right motors 131L and 131R are attached to the vehicle body 110, respectively. Also, left and right wheels 140L and 140R are attached to the left and right motors 131L and 131R, respectively. The left and right motors 131L and 131R are driven to rotate based on a control signal from the control unit 160.

The wheel 140 has left and right wheels 140L and 140R. The left and right wheels 140L and 140R are disposed on both sides of the vehicle body 110 along a direction orthogonal to the traveling direction. The left and right wheels 140L and 140R rotate around an axis orthogonal to the traveling direction of the vehicle body 110. The left and right wheels 140L and 140R are rotationally driven by rotational torque given by the left and right motors 131L and 131R. Typically, the left and right wheels 140L and 140R are coaxially arranged.
A speed sensor 141 and a torque sensor 142 are disposed on the left and right wheels 140L and 140R.
The speed sensor 141 detects the speed (number of rotations) of the left and right wheels 140L and 140R. The speed detected by the speed sensor 141 is transmitted as speed data to the memory unit 170 provided outside the inverted motorcycle 100 through the information transmission unit 150. The speed sensor 141 is typically a motor encoder.
The torque sensor 142 detects the rotational torque of the left and right wheels 140L and 140R. The rotational torque detected by the torque sensor 142 is transmitted as rotational torque data to the memory unit 170 provided outside the inverted motorcycle 100 via the information transmission unit 150. The torque sensor 142 is typically a motor ammeter and measures a motor current value.
The memory unit 170 receives the speed data and the rotational torque data, and accumulates each data.

  The information transmission unit 150 transmits the step load data, handle load data, operation unit angle data, speed data, and rotational torque data to the memory unit 170 provided outside the inverted motorcycle 100. Typically, the information transmission unit 150 transmits various data using radio waves.

The control unit 160 controls the driving of the left and right wheels 140L and 140R, thereby performing travel control and posture control of the vehicle body 110. That is, the control unit 160 executes predetermined calculation processing based on an operation signal corresponding to the operation in the turning operation unit 120, and outputs the control signal to the left and right motors 131L and 131R.
The control unit 160 includes, for example, an arithmetic circuit having a microcomputer (CPU), a storage device having a program memory, a data memory, and other RAMs and ROMs.
However, the inverted motorcycle to be tested by the durability test apparatus 1 is not limited to this, and may be an inverted motorcycle that generates a rotation difference between the left and right wheels to realize turning.

The base 10 of the durability test apparatus 1 has a box shape including a bottom plate 10a and a side wall 10b. The bottom plate 10a has a substantially rectangular shape, and is joined to a floor or the like by a joining means such as a bolt. The side wall 10b rises along the four sides of the bottom plate 10a. The side walls 10b rising along the four sides of the bottom plate 10a are joined to each other and have a rigid structure. Driving rollers 11L and 11R are rotatably provided on the side wall 10b facing the base 10 on the other side, that is, the inner side wall 10b. Roller driving means 12L and 12R are provided on the outer side wall 10b.
The inner dimension of the side wall 10b is slightly wider than the width dimension of the inverted two-wheeled vehicle 100 in the left-right direction so that the wheels 140L and 140R of the inverted two-wheeled vehicle 100 can be fitted into the driving rollers 11L and 11R of the side wall 10b.

  The base 10 has a fixing jig (not shown). The fixing jig restricts the movement of the inverted motorcycle 100 in the front-rear direction and the left-right direction, does not inhibit the rotation of the wheels 140L (140R), and does not inhibit the operation of the turning operation unit 120. Secure to the base 10.

  The drive roller 11 (11L, 11R) is formed in a wheel shape. The disk portion of the drive roller 11L (11R) is rotatably joined to the base 10 via a bearing fixed so as to penetrate the inner side wall 10b of the base 10. That is, a through hole is formed in the inner side wall 10b of the base 10, and a bearing is inserted into the through hole. The outer flange of the bearing is joined to the through hole. The disk portion of the drive roller 11L (11R) is joined to the inner flange of the bearing. The rotation shaft of the roller driving means 12L (12R) is passed through the inner flange of the bearing, and the tip of the rotation shaft is joined to the disk portion of the driving roller 11L (11R). The outer periphery of the rim portion of the drive roller 11L (11R) is brought into contact with the wheels 140L and 140R of the inverted motorcycle 100. As a result, the rotational driving force of the roller driving means 12L (12R) is transmitted to the wheels 140L (140R) of the inverted two-wheeled vehicle 100 via the driving rollers 11L (11R).

  The roller driving unit 12 (12L, 12R) is a driving unit such as a motor. The roller driving means 12L (12R) is joined to the outer side wall 10b of the base 10. The rotating shaft of the roller driving means 12L (12R) is passed through a through hole formed in the side wall 10b. The tip of the rotating shaft of the roller driving means 12L (12R) is joined to the disk portion of the driving roller 11L (11R). The roller driving unit 12L (12R) is controlled based on a control signal from the control unit 16.

The weight unit 13 includes a weight base 18, weights 19 (19 </ b> L, 19 </ b> R), and load adjusting means 20.
The weight base 18 is joined to the base 10 in a slidable state. The weight base 18 slides in the front-rear direction of the inverted two-wheeled vehicle 100 fixed to the base 10. In addition, the weights 19L and 19R are joined to the weight base 18 in a state where the weights 19L and 19R can be driven in a sliding direction. In other words, the weight base 18 can be slid so that one end of the weight 19L (19R) can be adjusted to a position that suitably contacts the step plate 111L (111R) of the inverted motorcycle 100.

  The weight 19L (19R) is disposed at a position where one end thereof is in contact with the step plate 111L (111R) of the inverted motorcycle 100. The weight 19 applies a load to the step plate 111L (111R) by applying a driving force that slides downward from a state in contact with the step plate 111L (111R).

  The load adjusting unit 20 is a driving unit such as a motor. The load adjusting means 20 is joined to the weight 19L (19R), and slides the weight 19L (19R) in the vertical direction. The load adjusting unit 20 is controlled based on a control signal from the control unit 16. The load adjusting unit 20 can independently control the weight 19L and the weight 19R based on a control signal from the control unit 16.

The handle operation unit 14 includes a handle base 21, a gripping mechanism 22, and a turning operation unit driving unit 23.
The handle base 21 is joined to the base 10 in a slidable state. The handle base 21 slides in the front-rear direction of the inverted motorcycle 100 fixed to the base 10. A gripping mechanism 22 is joined to the handle base 21 so as to be able to drive in the front-rear and left-right directions of the inverted motorcycle 100.

  The gripping mechanism 22 has a structure in which one end grips the turning operation unit 120 of the inverted two-wheeled vehicle 100. The gripping mechanism 22 applies a load to the turning operation unit 120 by driving in the front-rear and left-right directions of the inverted motorcycle 100 from the state in which the turning operation unit 120 is held. Thereby, the turning operation unit 120 tilts in the front-rear and left-right directions.

  The turning operation unit driving unit 23 is a driving unit such as a motor. The turning operation unit driving means 23 is joined to the gripping mechanism 22 and drives the gripping mechanism 22 in the front-rear and left-right directions. The turning operation unit driving unit 23 is controlled based on a control signal from the control unit 16.

The memory | storage means 15 is arrange | positioned inside the durability test apparatus 1, for example.
The storage means 15 stores actual running data of the inverted motorcycle 100 and the like. For example, in the present embodiment, as shown in FIG. 5, an endurance test is performed for a turning run in which the vehicle travels straight in an accelerated state and then turns right. Therefore, first, the inverted motorcycle 100 is used to actually travel on the test road that goes straight in the acceleration state and then turns right, and at that time, the speed data, the rotational torque data, the step load data, the handle load data, and the operation unit angle Get the data.

  Specifically, as the speed data, as shown in FIG. 6, the relationship between the speed of the left and right wheels 140L and 140R and time is acquired. In the present embodiment, the left and right wheels 140L and 140R are first accelerated at a constant speed in a straight section and go straight at a constant speed. In the subsequent turning section, the speed of the right wheel 140R is reduced and the speed of the left wheel 140L is increased. It's getting faster.

  Further, as the rotational torque data, as shown in FIG. 7, the relationship between the rotational torque of the left and right wheels 140L and 140R and time is acquired. In the present embodiment, first, a large rotational torque is output in order to accelerate the left and right wheels 140L and 140R equally in a straight traveling section, and when a predetermined speed is reached, a small rotational torque is output to maintain the speed. . In the turning section, a negative rotational torque is output to the right wheel 140R in order to reduce the speed of the right wheel 140R. On the other hand, in order to increase the speed of the left wheel 140L, a positive rotational torque is output to the left wheel 140L.

  Moreover, as step load data, as shown in FIG. 8, the relationship between the load applied to the left and right step plates 111L and 111R and time is acquired. In the present embodiment, the load applied to the left and right step plates 111L and 111R is constant in the straight section. In the turning section, the load applied to the right step plate 111R increases. On the other hand, the load applied to the left step plate 111L decreases.

  As handle load data, as shown in FIG. 9, the relationship between the load applied to the left and right handles 121L and 121R and time is acquired. In the present embodiment, in the straight traveling section, the load applied to the left and right handles 121L and 121R is not biased to the left or right. In the turning section, loads applied to the left and right handles 121L and 121R are both applied in the right direction.

Moreover, as operation part angle data, as shown in FIG. 10, the relationship between the tilting angle of the turning operation part 120 in the left-right direction and time is acquired. In the present embodiment, in the straight traveling section, the tilt angle in the left-right direction of the turning operation unit 120 is not biased to the left or right. In the turning section, the turning operation unit 120 tilts in the right direction.
Although FIG. 10 shows the relationship between the tilt angle in the left-right direction of the turning operation unit 120 and time, the relationship between the tilt angle in the front-rear direction of the turning operation unit 120 and time may be acquired.

  The relationship between the speed and time of the left and right wheels 140L and 140R acquired in this way, the relationship between the rotational torque of the left and right wheels 140L and 140R and time, the relationship between the load applied to the left and right step plates 111L and 111R and time, The relationship between the load and time applied to the left and right handles 121L and 121R and the angle and time of the turning operation unit 120 in the left-right direction is stored in the memory unit 170 at the time of measurement. Each data stored in the memory unit 170 is stored in the storage unit 15 of the durability test apparatus 1.

  The storage unit 15 may use the memory unit 170 provided when the inverted two-wheeled vehicle 100 travels as it is, or may be a copy of data from the memory unit 170 to the storage unit 15. Further, the data stored in the storage unit 15 may be travel data newly generated by calculating from actual travel data.

The control means 16 controls the roller driving means 12L, 12R based on the actual traveling data of the inverted motorcycle 100. As a result, the left and right drive rollers 11 rotate, and the load on the left and right wheels 140L and 140R of the inverted two-wheeled vehicle 100 changes. For example, the output torque to the roller driving units 12L and 12R is calculated based on the speed data and the rotational torque data included in the actual travel data. A torque control signal corresponding to the output torque is output to 12L and 12R. Thereby, in the durability test apparatus 1, loads as shown in FIGS. 6 and 7 are reproduced.
Further, the control means 16 controls the load adjusting means 20 based on the actual traveling data of the inverted motorcycle 100. Thereby, the loads of the weights 19L and 19R are controlled, and the loads applied to the step plates 111L and 111R of the inverted motorcycle 100 are changed. For example, the step load control signal is generated based on the step load data included in the actual travel data. By outputting this step load control signal to the load adjusting means 20, the durability test apparatus 1 reproduces the load as shown in FIG.
The control unit 16 controls the turning operation unit driving unit 23 based on the actual traveling data of the inverted motorcycle 100. As a result, the operation of the gripping mechanism 22 is controlled, and the load applied to the turning operation unit 120 of the inverted motorcycle 100 changes. For example, the turning operation unit control signal is generated based on the steering wheel load data and the operation unit angle data included in the actual travel data. By outputting this turning operation unit control signal to the turning operation unit driving means 23, the endurance test apparatus 1 reproduces the state in which the turning operation unit 120 tilts at an angle as shown in FIG.
The control means 16 controls the drive unit 130 of the inverted two-wheeled vehicle 100 based on the speed data and the rotational torque data included in the actual travel data, and controls the operations of the left and right wheels 140L and 140R. As a result, the left and right wheels 140 operate at the speed and torque as shown in FIGS. The left and right wheels 140 and the left and right drive rollers 11 rotate in opposite directions so that the inverted motorcycle does not move. This makes it possible to perform an endurance test on the spot.
For example, the control means 16 is disposed inside the durability test apparatus 1.

Next, an endurance test method for an inverted motorcycle according to the present invention will be described.
First, a person actually gets on the inverted motorcycle 100 and travels on a test road provided with obstacles such as slopes and steps. Here, an example of the test road is shown in FIG. 11, and the inverted motorcycle 100 performs a test run as follows.

The inverted motorcycle 100 starts running and moves to a place where an inclination is provided on the test road. One of the inclined portions has a hill shape of 6 ° and the other is 10 °. The inverted two-wheeled vehicle 100 travels so that the slope climbs from the 6 ° side, and travels so that the slope descends from the 10 ° side.
Next, the inverted motorcycle 100 travels backward. A circumferential circuit is provided on the test path, and the inverted motorcycle 100 moves to the location of the entrance / exit of the circumferential circuit.
Next, the inverted motorcycle 100 travels on the circuit. The peripheral circuit is provided with two locations having a step of 2 mm. The inverted two-wheeled vehicle 100 travels so as to enter at 90 ° and 45 ° with respect to a step of 2 mm.
Next, a plurality of poles are provided in the circumferential circuit at regular intervals in the traveling direction. The inverted motorcycle 100 travels between the poles in a slalom.
Next, a linear course is provided in the peripheral circuit. The inverted motorcycle 100 travels on a straight course. Thereby, the inverted motorcycle 100 reaches the entrance / exit of the circuit.
The inverted motorcycle 100 exits from the entrance / exit of the circuit and returns to the travel start position. This completes one test run. The travel data at this time is stored in the memory unit 170 as actual travel data. The traveling on the test road by the inverted motorcycle 100 may be performed a plurality of times.

When traveling on the test road is completed, the actual traveling data stored in the memory unit 170 is stored in the storage means 15. Here, the actual travel data includes wheel speed data, rotational torque data, step load data, handle load data, and operation unit angle data.
The actual travel data stored in the storage unit 15 is read into the control unit 16.

Next, the inverted motorcycle 100 is set at a predetermined position of the durability test apparatus 1.
The control means 16 drives each part of the durability test apparatus 1 based on the actual running data read from the storage means 15. Specifically, it is performed as follows.
The control unit 16 outputs a torque control signal to the roller driving units 12L and 12R. As a result, the roller driving means 12L and 12R are driven, the driving rollers 11L and 11R are driven, and a load is applied to the wheels 140L and 140R of the inverted two-wheeled vehicle 100.
Further, the control means 16 outputs a step load control signal to the load adjustment means 20. Thereby, the load adjusting means 20 is driven, the loads of the weights 19L and 19R are controlled, and the loads of the step plates 111L and 111R of the inverted motorcycle 100 are adjusted.
Further, the control means 16 outputs a turning operation part control signal to the turning operation part driving means 23. As a result, the operation of the gripping mechanism 22 is controlled, and the load applied to the turning operation unit 120 of the inverted motorcycle 100 changes. The control based on the turning operation unit control signal may control the position or angle of the turning operation unit 120, or may perform torque control.

  Further, the control means 16 outputs a robot speed control signal to the drive unit 130 of the inverted motorcycle 100. Thus, the motors 131L and 131R are controlled, and the operations of the wheels 140L and 140R of the inverted motorcycle 100 are controlled.

The inverted two-wheeled vehicle 100 outputs a torque signal of the left and right wheels 140 </ b> L and 140 </ b> R and a signal indicating the angle of the turning operation unit 120 to the control means 16.
The control means 16 performs a feedback calculation based on these signals input from the inverted motorcycle 100, and sends more suitable control signals to the roller driving means 12, the load adjusting means 20, the turning operation section driving means 23, and the inverted motorcycle. 100 can be output.

As a result, the endurance test apparatus 1 can be used to test the inverted motorcycle 100 to which a load similar to that during actual traveling is applied. That is, the durability test apparatus 1 can apply a load to the step plates 111L and 111R, and can perform a durability test that faithfully reproduces actual traveling.
The endurance test apparatus 1 can perform an endurance test of, for example, several thousand to ten thousand cycles without actually running the inverted motorcycle 100 by controlling to repeat the test.

Embodiment 2
A durability test apparatus 1 for an inverted motorcycle 200 according to a second embodiment will be described. In addition, the same code | symbol is attached | subjected about the structure similar to the durability test apparatus 1 and the inverted motorcycle 100 shown to 1st embodiment, and description is abbreviate | omitted. FIG. 12 shows a front view of the inverted motorcycle 200.

The inverted motorcycle 200 includes a step load measurement sensor 112, an angle measurement sensor 123, a speed sensor 141, and a torque sensor 142. That is, it differs from the inverted motorcycle 100 in that the handle operating load measuring sensor 122 is not provided.
The inverted two-wheeled vehicle 200 stores the actual travel data when traveling on the test road shown in FIG. The memory unit 170 is provided inside the inverted motorcycle 200, for example.
Here, the actual travel data acquired by the various sensors is the same as that shown in FIGS. The actual running data stored in the memory unit 170 is stored in the storage unit 15 of the durability test apparatus 1.

During the durability test using the durability test apparatus 1, the control means 16 outputs a control signal based on the actual running data stored in the storage means 15.
At this time, the control means 16 does not have information on the load applied to the handles 121L and 121R. Therefore, the turning operation unit control signal output by the control unit 16 is determined based on the history of the angle of the turning operation unit 120 in the actual travel data without considering the load on the handles 121L and 121R. The turning operation unit driving means 23 operates the gripping mechanism 22 based on the turning operation unit control signal and applies a load to the turning operation unit 120.

  In this way, even if the load applied to the handles 121L and 121R is not measured, the durability test can be performed.

  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, although the second embodiment has been described on the assumption that the handle operating load measurement sensor 122 is not provided, the durability test is performed based on the actual running data stored in the storage unit 15 even when there is no other sensor. be able to. Further, the inverted motorcycle that acquires the actual running data may be different from the inverted motorcycle that performs the durability test. For example, actual traveling data may be acquired with one inverted motorcycle and deployed to a plurality of inverted motorcycles of the same type. Thereby, real driving | running | working data can be acquired easily.

DESCRIPTION OF SYMBOLS 1 Endurance test apparatus 10 Base 10a Bottom plate 10b Side wall 11 (11L, 11R) Drive roller 12 (12L, 12R) Roller drive means 13 Weight part 14 Handle operation part 15 Storage means 16 Control means 18 Weight base 19 (19L, 19R ) Weight 20 Load adjusting means 21 Handle base 22 Grip mechanism 23 Turning operation unit driving means 100 Inverted two-wheeled vehicle 200 Inverted two-wheeled vehicle 110 Car body 111 (111L, 111R) Step plate 112 (112L, 112R) Step load measuring sensor 120 Turning operation unit 121 (121L, 121R) Handle 122 (122L, 122R) Handle operation load measurement sensor 123 Angle measurement sensor 130 Drive unit 131 (131L, 131R) Motor 140 (140L, 140R) Wheel 141 Speed sensor 142 G Kusensa 150 information transmission section 160 the control unit 170 memory unit

Claims (6)

An endurance test apparatus for an inverted two-wheeled vehicle that realizes a turn by controlling a rotation difference between left and right wheels by manipulating a boarding part and operating a turning operation part,
Left and right drive rollers for applying loads to the left and right wheels,
Left and right roller driving means for applying a driving force to the left and right driving rollers, respectively;
Load adjusting means for adjusting a load applied to the riding section;
Storage means for storing actual traveling data of the inverted motorcycle;
Control means for controlling the left and right roller driving means and load adjusting means based on the actual running data, and for causing the inverted motorcycle control means to control the left and right wheels based on the actual running data;
Inverted motorcycle durability tester equipped with A turning operation unit driving means for providing a driving force for operating the turning operation unit of the inverted motorcycle;
The storage means stores operation data of the turning operation unit in the inverted motorcycle as actual traveling data,
The control means controls the turning operation unit driving means based on actual traveling data stored in the storage means.
The endurance testing apparatus for an inverted motorcycle according to claim 1. The storage means stores speed data and rotational torque data of left and right wheels as actual running data of the inverted motorcycle.
The control means calculates the rotational torque of the left and right drive rollers based on the speed and rotational torque of the left and right wheels when actually traveling on the test road, and outputs the rotational torque to the left and right drive means. ,
The endurance motorcycle endurance test device according to claim 1 or 2. An inverted motorcycle is set in an endurance test apparatus having roller driving means and load adjusting means,
By controlling the roller drive means based on the actual traveling data of the inverted motorcycle, the left and right drive rollers driven by the roller drive means respectively apply loads to the left and right wheels of the inverted motorcycle,
Based on the actual running data, the load adjusting means applies a load to the riding portion of the inverted motorcycle.
Endurance test method for inverted motorcycles. The turning operation unit driving means provided in the durability test device operates the turning operation unit of the inverted two-wheeled vehicle based on the actual running data.
The endurance test method for an inverted motorcycle according to claim 4. The actual driving data includes the speed data and rotational torque data of the left and right wheels,
Based on the speed data and rotational torque data of the left and right wheels, the rotational torque of the drive roller is controlled.
The endurance motorcycle endurance test method according to claim 4 or 5.

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