JP2012076471A - Mobile body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve operability in acceleration and deceleration in a mobile body.SOLUTION: The mobile body can move in the longitudinal direction according to the movement of gravity center in the mobile body in the longitudinal direction. The mobile body includes: a vehicle body; a stepping part supported onto the vehicle body tiltably in the longitudinal direction; and an operating unit for operating the tilting of the stepping part in the longitudinal direction. Thus, the stepping part can be tilted based on the operation of the operating unit performed by a person on board to assist the movement of gravity center by the person on board, thereby improving the operability of the mobile body.

Description

  The present invention relates to a moving body.

  There is known a moving body that detects the inclination of a vehicle by a plurality of gyros or the like and mainly controls the attitude of the vehicle in the pitch axis direction (front-rear direction) (for example, Patent Document 1). In such a conventional mobile body, the movement is controlled based on, for example, a change in the center of gravity due to the weight movement of the passenger.

  By the way, there is known a moving body that rotates a step plate on which a driver is boarding around a roll axis with a traveling direction as a roll axis (Patent Document 2). According to such a moving body, when the driver turns the moving body, the position of the center of gravity can be moved inward, so that the passenger can resist the centrifugal force.

US Pat. No. 5,971,091 JP 2006-315666 A

The moving bodies described in Patent Document 1 and Patent Document 2 require a center of gravity movement in the front-rear direction by the passenger. If the center of gravity moves backward, the brake is controlled, and if the center of gravity moves forward. The accelerator is controlled. However, in order to smoothly move the center of gravity and perform smooth operation, some practice was required.
The present invention has been made to solve such problems, and an object of the present invention is to provide a movable body that can be easily operated.

A moving body according to the present invention is a moving body that realizes movement in the front-rear direction in accordance with the center-of-gravity movement in the front-rear direction, and a vehicle body and a step portion that is supported so as to be tiltable in the front-rear direction with respect to the vehicle body. And an operation unit for operating the tilting of the step unit in the front-rear direction.
Thereby, a step part can be operated by operation of an operation part, and a passenger | crew's gravity center movement can be assisted.

  On the other hand, the operation unit includes a wire connected to the step unit, and the step unit is a moving body to which a tilting driving force is given by the tension of the wire according to the operation in the operation unit.

  On the other hand, it comprises a step driving means for tilting the step section, and a step control means for controlling the operation of the step driving means, the step control means according to an operation of the operation section by a passenger. It is a moving body that controls the operation of the step driving means so as to tilt.

  The operability of the moving body can be improved.

FIG. 2 is a diagram illustrating an outline of a moving object according to the first embodiment. 1 is a block diagram of a moving body according to a first exemplary embodiment. 3 is a flowchart of deceleration of a moving body according to the first exemplary embodiment. It is a figure which shows the outline of the moving body concerning Embodiment 2. FIG. It is a block diagram of the moving body concerning Embodiment 2. FIG. 10 is a flowchart of deceleration of a moving body according to the second embodiment. It is a figure which shows the outline of the moving body concerning Embodiment 3. FIG. It is a block diagram of the moving body concerning Embodiment 3. FIG. 10 is a flowchart of deceleration of a moving body according to the third embodiment.

Embodiment 1 FIG.
Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing an outline of the moving body 100. FIG. 2 is a block diagram of the moving body 100.

  The moving body 100 includes a vehicle body 10, a step unit 11, a first wheel 12, a second wheel 13, a first drive unit 14, a second drive unit 15, and a first detection unit 16. And second detection means 17, wheel control means 18, operation bar 19, gripping part 20, operation part 21, and wire 22. The moving body 100 is an inverted moving body in which the traveling speed in the forward or backward direction is controlled according to the tilt angle of the vehicle body 10 in the front-rear direction based on the movement of the center of gravity of the passenger.

  The vehicle body 10 has a step portion 11 on which the person gets on and off. The vehicle body 10 is equipped with a first drive means 14, a second drive means 15, a first detection means 16, a second detection means 17, and a wheel control means 18. An operation bar 19 is connected to the vehicle body 10.

The step unit 11 is a step in which the passenger puts his / her foot. For example, when the moving body 100 is on a flat road surface, the step unit 11 is provided to be horizontal. That is, it is the state shown by the solid line in FIG.
Here, the step part 11 is a link mechanism constituted by front and rear step plates 11a and 11b and a step plate connecting part 11c. The step plate 11 a is disposed on the front side of the moving body 100. The step plate 11 b is disposed on the rear side of the moving body 100. It is assumed that both feet of the passenger are put on the step plate 11b.
The step plate connecting portion 11c is a connecting portion for a plurality of step plates 11a and 11b. The step plate connecting portion 11c connects the rear portion of the step plate 11a and the front portion of the step plate 11b. The step plate connecting portion 11 c has a degree of freedom in the vertical direction of the moving body 100. As the step plate connecting portion 11c moves up and down, the rear portion of the step plate 11a and the front portion of the step plate 11b move up and down. A state where the step plate connecting portion 11c is moved upward is indicated by a broken line in FIG.

Here, for example, a pin is provided at the rear end of the step plate 11a. The front end portion of the step plate 11a is rotatably connected. The end portion on the front side of the step plate 11b has a projecting portion that projects to the front side when in a horizontal state, and an elongated hole is formed in the projecting portion. And the pin of the step plate 11a is inserted in the long hole of the step plate 11b, and it is set as the step plate connection part 11c. The rear end of the step plate 11b is rotatably connected to the vehicle body 10. As a result, when the step plate connecting portion 11c moves upward, the step plate 11b tilts backward.
The number of step plates is not limited to the above, and there may be a plurality of step plate connecting portions 11c. The step unit 11 may be obtained by dividing one step plate.

The first and second wheels 12 and 13 rotate around an axis orthogonal to the traveling direction of the vehicle body 10. The first and second wheels 12 and 13 are disposed on both sides of the vehicle body 10 along the orthogonal direction.
The first and second wheels 12 and 13 are connected to first and second driving means 14 and 15, respectively. The first and second wheels 12 and 13 are given driving force by the first and second driving means 14 and 15, respectively.

  The 1st and 2nd drive means 14 and 15 are provided with an electric motor, a reduction gear, etc., for example. The first and second driving means 14 and 15 are controlled based on a control signal from the wheel control means 18.

The first detection means 16 detects the pitch angle or / and the pitch angular velocity of the vehicle body 10. The first detection means 16 outputs the detected pitch angle and pitch angular velocity of the vehicle body 10 to the wheel control means 18. Here, the direction of rotation of the moving body 100 in the front-rear direction is the pitch direction.
The first detection means 16 includes a gyro sensor, an acceleration sensor, and the like.

  The second detection means 17 detects the tilt angle of the operation bar 19 in the left-right direction. The second detection means 17 outputs the detected tilt angle to the wheel control means 18. The second detection means 17 is disposed at a connection portion between the vehicle body 10 and the operation bar 19. Or the 2nd detection means 17 is good also as what detects the tilting angle of the left-right direction of a vehicle body.

  The wheel control means 18 controls the first and second drive means 14 and 15 based on the detection signals of the first and second detection means 16 and 17. That is, the wheel control means 18 executes a predetermined calculation process based on detection signals from the first and second detection means 16 and 17 and sends necessary control signals to the first and second drive means 14 and 15. Output to. The wheel control means 18 is, for example, an ECU (Electric Control Unit) including an arithmetic circuit having a microcomputer (CPU) and a storage device having a program memory, a data memory, and other RAMs and ROMs.

The operation bar 19 is operated by the passenger to realize the turning of the moving body 100. One end of the operation bar 19 is connected to the front center portion of the vehicle body 10 so as to be rotatable in the left-right direction of the vehicle body 10. A grip 20 and an operation unit 21 are formed at the other end of the operation bar 19. The grip 20 is gripped by the passenger.
The operation unit 21 is disposed at a location where the rider can operate in a state in which the gripper 20 is gripped, and instructs deceleration by the rider's operation. Typically, the operation unit 21 is a brake lever (deceleration adjusting means).

The wire 22 connects the operation unit 21 and the step unit 11. More specifically, the wire 22 is connected to the step plate connecting portion 11 c of the step portion 11.
For example, the wire 22 gives an upward force to the step plate connecting portion 11c when the passenger performs a deceleration operation at the operation portion 21. Thereby, the front part of the step plate 11b is lifted, and the step plate 11b tilts backward.

  Here, when the operation unit 21 is a brake lever, it is desirable to have a mechanism capable of changing the operation ratio of the brake lever and the step unit 11. That is, when the passenger performs a deceleration operation, the brake lever is largely operated. Thereby, even if a passenger is non-power, the step part 11 can be tilted by moving a brake lever largely.

  Next, a procedure for decelerating the moving body 100 based on the operation of the operation unit 21 will be described. FIG. 3 is a flowchart in which the moving body 100 decelerates.

The passenger operates the operation unit 21 (step S1). For example, the passenger holds the lever of the operation unit and pulls up the wire. That is, when a deceleration operation is performed in the operation unit 21, the wire 22 applies an upward force to the step plate connection unit 11c.
At this time, the drawing amount of the wire 22 proportional to the amount of operation of the operation unit 21 by the passenger is transmitted to the step unit 11 (step S2).

  The step part 11 to which the force is applied tilts (step S3). More specifically, when an upward force is applied to the step plate connecting portion 11c due to the tension of the wire 22, the step plate connecting portion 11c operates upward. Thereby, since the front part of the step plate 11b moves upward, the step plate 11b tilts backward.

  The center of gravity of the passenger moves backward (step S4). Specifically, the passenger tilts backward as the step plate 11b tilts backward. As a result, the center of gravity of the passenger moves backward.

  The wheel control means 18 controls the deceleration of the moving body 100 based on the movement of the passenger's center of gravity (step S5). More specifically, the first detection means 16 detects the pitch angle or / and the pitch angular velocity of the vehicle body 10 that has fluctuated due to the movement of the center of gravity to the rear of the passenger. The wheel control means 18 controls the operations of the first and second drive means 14 and 15 based on the detection result of the first detection means 16. Thereby, the wheel control means 18 can control the operation of the first and second wheels 12 and 13. That is, the deceleration of the moving body 100 can be controlled.

Note that when the deceleration operation in the operation unit 21 is completed, the wire 22 releases the force applied to the step unit 11. For example, the passenger releases the grip of the lever of the operation unit 21. Thereby, the step plate connection part 11c returns to the original position from the state lifted upward by its own weight. Accordingly, in the moving body 100, the step plate 11a and the step plate 11b are in a substantially horizontal state as shown by the solid line in FIG.
The wheel control means 18 controls the operation of the first and second wheels 12 and 13 from the deceleration state to the normal state according to the change in the center of gravity of the passenger based on the state change of the step unit 11.

In such a moving body 100, the step portion 11 tilts backward by the operation of the operation unit 21, thereby assisting the passenger to move the center of gravity, and the moving body 100 is decelerated based on the movement of the center of gravity.
Thereby, for example, even if the passenger is unfamiliar with the driving of the moving body 100, the moving body 100 can be easily decelerated by the operation of the operation unit 21. Therefore, the operation of the moving body 100 is easy.

  Moreover, it is preferable that the moving body 100 can be made into the state which locked the grip of the operation part 21. FIG. When the passenger gets off with the grip of the operation unit 21 locked, the moving body 100 stops in a state in which the step plate 11b tilts backward, and even if a third person gets on the board The posture is a posture to go backward. Therefore, since the vehicle cannot start suddenly, it is possible to prevent the stopped moving body 100 from being stolen.

A plurality of operation units 21 may be provided. For example, it is assumed that the operation unit 21 is provided with an accelerator lever for accelerating the moving body in addition to the brake lever. In this case, for example, an accelerator lever wire (not shown) is prepared in addition to the brake lever wire 22. The wire to which the accelerator lever is connected is connected to the rear part of the step plate 11b, and transmits an upward force to the rear part of the step plate 11b. At this time, it is assumed that the rear portion of the step plate 11b is connected to the vehicle body so as to be movable up and down.
Accordingly, the passenger 100 can be tilted forward and the moving body 100 can be accelerated by tilting the step plate 11b forward based on the operation of the accelerator lever.

Further, when the passenger operates the accelerator lever, a wire may be installed so that the step plate connecting portion 11c operates downward. In this case, the step portion 11 is typically provided with a mechanism such as a spring. Thus, when the passenger stops operating the accelerator lever, the step plate 11a and the step plate 11b as shown by the solid line in FIG. It becomes a horizontal state.
Thereby, based on operation of the operation part 21, the mobile body 100 can be accelerated / decelerated.

Embodiment 2. FIG.
In the second embodiment, a method for tilting the step portion 11 without using the wire 22 will be described. FIG. 4 is a diagram showing an outline of the moving body 200. FIG. 5 is a block diagram of the moving body 200. In addition, the same code | symbol is attached | subjected to the component same as the mobile body 100 shown in Embodiment 1, and description regarding this component is abbreviate | omitted.

  The moving body 200 includes a vehicle body 10, a step unit 11, a first wheel 12, a second wheel 13, a first drive unit 14, a second drive unit 15, and a first detection unit 16. Second detection means 17, wheel control means 18, operation bar 19, gripping section 30, operation section 31, operation amount detection means 32, step control means 33, and third drive means ( Step driving means) 34.

One end of the operation bar 19 is connected to the front center portion of the vehicle body 10 so as to be rotatable in the left-right direction of the vehicle body 10. The other end of the operation bar 19 is provided with a grip 30, an operation unit 31, and an operation amount detection means 32.
The grip 30 is gripped by the passenger. The operation unit 31 is disposed at a location where the rider can operate the vehicle while holding the grip unit 30, and instructs acceleration / deceleration by the rider's operation. The operation amount detection means 32 is installed in the operation unit 31 and detects the operation amount of the operation unit 31 operated by the passenger. Further, the operation amount detection unit 32 transmits the detected operation amount to the step control unit 33 as a detection signal by wire or wireless.

  The step control means 33 is provided in the vehicle body 10 and controls the third driving means 34 based on the detection signal of the operation amount detection means 32. That is, the step control unit 33 executes a predetermined calculation process based on the detection signal from the operation amount detection unit 32 and outputs a necessary control signal to the third drive unit 34. The step control means 33 is, for example, an ECU including an arithmetic circuit having a CPU and a storage device having a program memory, a data memory, and other RAMs and ROMs.

The third drive unit 34 is provided in the vehicle body 10 and includes, for example, an electric motor or an actuator. The third drive unit 34 is controlled based on a control signal from the step control unit 33. The third driving means 34 is connected to the step plate connecting portion 11c of the step portion 11, and when the third driving means 34 is driven, the step plate connecting portion 11c is moved up and down.
Accordingly, the third driving unit 34 can tilt the step unit 11 by driving based on the control signal of the step control unit 33. A state where the step plate 11b of the step portion 11 is tilted rearward is shown by a broken line in FIG.

  Next, a procedure for decelerating the moving body 200 based on the operation of the operation unit 31 will be described. FIG. 6 is a flowchart of deceleration of the moving body 200.

The passenger operates the operation unit 31 (step S11).
The operation amount detection means 32 detects the operation amount of the operation unit 31 by the passenger. The operation amount detection means 32 outputs the detected operation amount of the operation unit 31 to the step control means 33 as a detection signal (step S12).

The step control means 33 performs a calculation based on the input detection signal (step S13). Specifically, the step control unit 33 calculates an angle for tilting the step unit 11. The step control means 33 generates a control signal based on the calculation result and outputs it to the third drive means 34.
The third drive means 34 is driven based on the input control signal (step S14). Thereby, the step part 11 tilts.

  The center of gravity of the passenger moves (step S15). Specifically, when the step plate connecting portion 11c moves upward, the passenger tilts backward as the step plate 11b on which the passenger rides tilts backward. As a result, the center of gravity of the passenger moves backward.

  The wheel control means 18 controls the deceleration of the moving body 200 based on the movement of the passenger's center of gravity (step S16). More specifically, the first detection means 16 detects the pitch angle or / and the pitch angular velocity of the vehicle body 10 that has changed due to the movement of the center of gravity of the passenger. The wheel control means 18 controls the operations of the first and second drive means 14 and 15 based on the detection result of the first detection means 16. Thereby, the wheel control means 18 can control the operation of the first and second wheels 12 and 13, and can control the deceleration of the moving body 200.

In such a moving body 200, when the third driving unit 34 is operated according to the operation of the operation unit 21, the step unit 11 tilts backward.
Thus, the movement of the center of gravity of the passenger is assisted, and the moving body 200 is decelerated based on the movement of the center of gravity. Therefore, even if the passenger is unfamiliar with driving the moving body 200, the moving body 200 can be easily decelerated by the operation of the operation unit 21. Therefore, the operation of the moving body 200 becomes easy.

A plurality of operation units 31 may be provided. For example, the operation unit 31 is assumed to be provided with an accelerator lever for performing an acceleration operation of the moving body in addition to the brake lever. In this case, the rear part of the step plate 11b is connected to the vehicle body so as to be movable up and down, and the rear part of the step plate 11b moves upward by the operation of the accelerator lever, and the step plate 11b tilts forward. . Thereby, the mobile body 200 can be accelerated.
Alternatively, the step plate connecting portion 11c may be moved downward by the acceleration operation of the accelerator lever. As a result, the step plate 11b tilts forward. Thereby, the mobile body 200 can be accelerated.
When the operation of the accelerator lever is finished, the step control means 33 controls the step plate 11a and the step plate 11b to be substantially horizontal as shown by the solid line in FIG. Thereby, the mobile body 200 can shift from the accelerated state to the normal state.

Embodiment 3 FIG.
In the third embodiment, a method of decelerating the moving body 300 by operating the operation unit 42 will be described. FIG. 7 is a diagram showing an outline of the moving body 300. FIG. 8 is a block diagram of the moving body 300. The same components as those of the moving body 100 and the moving body 200 described in the first embodiment and the second embodiment are denoted by the same reference numerals, and description thereof is omitted.

  The moving body 300 includes a vehicle body 10, a step unit 11, a first wheel 12, a second wheel 13, a first drive unit 14, a second drive unit 15, and a first detection unit 16. And second detection means 17, wheel control means 40, operation bar 19, grip part 41, operation part 42, and operation amount detection means 43.

  The operation bar 19 connects the vehicle body 10 and one end. Further, the operation bar 19 has a gripping portion 41, an operation portion 42, and an operation amount detection means 43 at the other end. The operation amount detection means 43 is installed in the operation unit 42 and detects the operation amount of the operation unit 42 operated by the passenger. Typically, the operation amount detection means 43 detects by an electronic detection method such as a force sensor. Further, the operation amount detection means 43 transmits the detected operation amount to the wheel control means 40 as a detection signal by wire or wireless.

The wheel control means 40 is provided in the vehicle body 10. The wheel control means 40 executes predetermined calculation processing based on the detection signals from the first and second detection means 16 and 17 and the detection signal from the operation amount detection means 43, and sends the necessary control signals to the first and second control signals. It outputs to the 2nd drive means 14 and 15.
Here, the wheel control means 40 uses the axis passing through the center of gravity where the moving body 300 is stopped and extends vertically as a reference axis, and the speed in the front-rear direction is determined by the tilt angle or angular velocity of the vehicle body 10 from the reference axis. Shall be controlled.

  Next, a procedure for decelerating the moving body 300 based on the operation of the operation unit 42 will be described. FIG. 9 is a flowchart of deceleration of the moving body 300.

  The passenger operates the operation unit 42 (step S21). Here, it is assumed that the wheel control means 40 continuously calculates the center of gravity based on the detection results of the first and second detection means 16 and 17 from step S21 and before.

  The operation amount detection means 43 detects the operation amount of the operation unit 42 by the passenger. The operation amount detection unit 43 outputs the detected operation amount of the operation unit 42 to the wheel control unit 40 as a detection signal (step S22).

  The wheel control unit 40 performs a calculation using the operation amount of the operation unit 42 detected by the operation amount detection unit 43 (step S23). The wheel control means 40 performs a correction calculation that assumes that the reference axis is in a position tilted forward according to the operation amount of the operation unit 42. Further, the wheel control means 40 outputs a control signal according to the tilt angle or angular velocity of the vehicle body 10 based on the corrected reference axis.

  The 1st and 2nd drive means 14 and 15 drive based on the inputted control signal, and decelerate the mobile body 300 (step S24).

  Thereby, based on the operation amount of the operation part 42 by a passenger, the mobile body 300 can be decelerated. Therefore, the operation of the moving body 200 becomes easy.

  In addition, although deceleration has been described above, acceleration can be similarly performed. That is, when an acceleration operation is performed by the operation unit 42, in step S23, correction is performed on the assumption that the reference axis is at a position tilted backward from the original position.

  Accordingly, the passenger can easily perform acceleration / deceleration of the moving body 300 without depending on the movement of the center of gravity.

Further, the step unit 11 may be tilted together with the deceleration of the moving body 300 based on the operation of the operation unit 42.
In this case, the moving body 300 further includes step control means 44. The step control means 44 drives the 3rd drive means 34 based on the amount of operation, when the operation of deceleration is performed by the operation part 42, and tilts the step part 11 back. As a result, the center of gravity of the passenger moves backward.
Accordingly, the occupant is assisted to take a posture that matches the deceleration. Note that the step control unit 44 may operate the step unit 11 so that the position of the center of gravity of the passenger with respect to the moving body 300 matches before and after the operation of the operation unit 42.

  In addition, the wheel control unit 40 may sequentially perform the calculation of the reference axis correction as the step unit 11 tilts, and may perform deceleration based on the sequentially corrected reference axis.

  The tilting of the step unit 11 based on the operation of the operation unit 42 may not use the step control unit 44 and the third driving unit 34. That is, the operation unit 42 and the step unit 11 may be connected by a wire, and the step unit 11 may be tilted backward using the tension of the wire based on a deceleration operation in the operation unit 42.

  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 step part 11, although it demonstrated as what puts a passenger | crew's leg | foot on the step plate 11b, it is good also as what prepares two step parts which respectively mount a right and left foot, and controls the tilt of each step part. In the operation units 21, 31, 41, the operation means by the passenger is not only a lever but also other buttons.

DESCRIPTION OF SYMBOLS 10 Car body 11 Step part 11a Step plate 11b Step plate 11c Step plate connection part 12 1st wheel 13 2nd wheel 14 1st drive means 15 2nd drive means 16 1st detection means 17 2nd detection means 18 Wheel control means 19 Operation bar 20 Grip part 21 Operation part 22 Wire 30 Grip part 31 Operation part 32 Operation amount detection means 33 Step control means 34 Third drive means 40 Wheel control means 41 Grip part 42 Operation part 43 Operation amount detection Means 44 Step control means 100 Moving object 200 Moving object 300 Moving object

Claims (3)

A moving body that realizes movement in the front-rear direction according to the center-of-gravity movement in the front-rear direction,
The car body,
A step portion supported to be tiltable in the front-rear direction with respect to the vehicle body;
An operation unit for operating tilting of the step unit in the front-rear direction,
Moving body. The operation unit includes a wire connected to the step unit,
The step portion is given a tilting driving force by the tension of the wire according to the operation in the operation portion.
The moving body according to claim 1. Step driving means for tilting the step portion;
Step control means for controlling the operation of the step drive means,
The step control means controls the operation of the step driving means so as to tilt the step part in response to an operation of the operation part by a passenger.
The moving body according to claim 1.

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