JP2012236522A - Moving body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suitably secure the traveling state of a moving body on a cant road while suppressing the sacrifice of the operation feeling of a vehicle.SOLUTION: A two-wheeled inverted pendulum vehicle 100 is the moving body which moves by rotationally controlling one set of wheels (11, 12). The two-wheeled inverted pendulum vehicle 100 comprises: a handle 45 operated by an occupant; a spring 56 for returning the handle 45 which is changed in attitude according to the operation by the occupant to an initial attitude; and a spring 58 for recovering, together with the spring 56, the handle 45 which is changed to a first attitude different from the initial attitude according to the operation of the occupant up to an intermediate attitude being an attitude in a process in which the attitude of the handle 45 is changed to the initial attitude from the first attitude. Furthermore, the two-wheeled inverted pendulum vehicle 100 has springs 66, 68 in order to cope with the inclination of the handle 45 to a reverse direction.

Description

  The present invention relates to a moving body.

  Inverted two-wheeled mobile bodies have attracted attention as vehicle-type robots having a compact structure and high movement performance. Patent Document 1 discloses that when an inverted two-wheeled mobile body travels on a cant road, a roll component of an operation command input by a user is compensated based on the current roll angle of the vehicle (the same document). Paragraph 0049 of “The controller compensates the direction component of the rider's command (eg, steering command) based on the current roll angle of the vehicle, thereby It can reduce the impact on operation. ")

Special table 2011-500393 gazette

  When the moving body travels on a cant road (an inclined surface that is inclined in the left-right direction when viewed from the moving body), the passenger intends according to the change of the steering wheel to the standing state. Instead, the moving body may turn. When the input command is compensated by the controller as described in Patent Document 1, the passenger can acquire the sense of operation of the moving body by sensing the amount of movement of the moving body based on the input command changed on the controller side. it can. However, in this case, there may be a time lag between the time when the handle is operated by the occupant and the time when the moving body operates according to the handle operation. As a result, there is a possibility that a state in which it is difficult for the passenger to grasp the operational feeling of the vehicle may occur.

  As is apparent from the above description, the inventors of the present application have found a new problem of suitably securing the traveling state of the moving body on the cant road while suppressing the sacrifice of the operational feeling of the vehicle. The comparative explanation with Patent Document 1 described above is given as an example in order to explain the problem of the present invention. Therefore, it is not permissible to interpret the invention of this application in a limited manner based on the comparison with Patent Document 1.

  A moving body according to the present invention is a moving body that moves by controlling rotation of a plurality of wheels, and initially includes an operating element operated by a passenger and the operating element whose posture is changed in accordance with an operation by the passenger. A first return means for returning to a posture, and the posture of the operator from the first posture to the initial posture is changed from a first posture different from the initial posture according to an operation by the passenger. And a second return means for returning the manipulator together with the first return means to an intermediate position that is a changing process posture.

  Each of the first and second return means may include at least an elastic member.

  Each of the first and second return means includes at least an elastic member, and the elastic force of the elastic member included in the second return means is different from the elastic force of the elastic member included in the first return means. And good.

  Each of the first and second return means may include at least a spring, and a spring length of the spring included in the second return means may be different from a spring length of the spring included in the first return means. .

  A third return means for returning the manipulator whose posture has been changed according to the operation by the passenger to an initial posture; and the manipulator having been changed to a second posture different from the initial posture in accordance with the operation by the passenger. And a fourth return means for returning the operator together with the third return means to an intermediate position that is a posture in the process of changing the attitude of the operator from the second position to the initial position. good.

  It is preferable that the operation element is configured not to be effectively turned when the attitude of the operation element changes from the initial attitude to the intermediate attitude.

  When the attitude of the operating element changes from the initial attitude to the intermediate attitude, it is configured so as not to effectively turn, and when the attitude of the operating element changes from the intermediate attitude to the first attitude, it is effective. It is good to be comprised so that turning operation | movement may be carried out.

  A mounting unit on which both feet of the passenger are mounted; and a parallel link mechanism that changes posture according to the movement of the center of gravity of the passenger on the mounting unit. Each of them may be adjusted to have an inclination with respect to the ground plane in accordance with a change in the posture of the parallel link mechanism.

  The first and second return means may act on the operation element through at least the parallel link mechanism. The first return means may act on the parallel link mechanism so that the parallel link mechanism returns to the initial position as the parallel link mechanism changes from the initial position.

  The mobile body according to the present invention is configured so that an operating element that has changed to a first position different from an initial position in response to an operation by a passenger changes a position of the operating element from the first position to the initial position. The intermediate posture is changed by the first return force, and then the posture of the operator is changed by the second return force that is weaker than the first return force.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to suppress the unintentional turning at the time of cant road driving | running | working, suppressing sacrificing the operation feeling of a vehicle.

1 is a schematic front view of an inverted two-wheeled moving body according to a first embodiment. 1 is a schematic side view of an inverted two-wheeled mobile body according to a first exemplary embodiment. FIG. 3 is a schematic partial enlarged front view of the inverted two-wheeled mobile body according to the first exemplary embodiment. 1 is a schematic top view of an inverted two-wheeled moving body according to a first embodiment. 1 is a schematic front view of an inverted two-wheeled moving body according to a first embodiment. FIG. 3 is a schematic partial enlarged schematic view of the inverted two-wheeled mobile body according to the first exemplary embodiment. FIG. 3 is a schematic diagram illustrating a schematic configuration of a spring unit built in the inverted two-wheeled mobile body according to the first exemplary embodiment; FIG. 6 is a graph showing the operation of the inverted two-wheeled moving body according to the first embodiment. FIG. 6 is a schematic diagram showing the operation of the inverted two-wheeled mobile body according to the first exemplary embodiment. It is a schematic diagram which shows schematic structure of the spring unit incorporated in the inverted two-wheeled mobile body concerning a comparative example. It is a graph which shows operation | movement of the inverted two-wheeled mobile body concerning a comparative example. 1 is a block diagram illustrating a schematic configuration of an inverted two-wheeled mobile body according to a first embodiment; 1 is a block diagram illustrating a schematic configuration of an inverted two-wheeled mobile body according to a first embodiment; 3 is a flowchart showing a schematic operation of the inverted two-wheeled mobile body according to the first exemplary embodiment; It is a block diagram which shows schematic structure of the inverted two-wheeled mobile body concerning Embodiment 2. FIG. FIG. 6 is a schematic diagram illustrating a configuration of a display unit incorporated in an inverted two-wheeled mobile body according to a second embodiment. 6 is a flowchart showing a schematic operation of the inverted two-wheeled mobile body according to the second exemplary embodiment. It is the reference figure which compared and demonstrated the prior art example and Embodiment 1,2.

  The embodiments described below are not individually independent but can be combined with each other, and a synergistic effect based on the combination can also be claimed. In principle, duplicate descriptions between the embodiments are eliminated. The same reference numerals are given to the same elements in the embodiments, and redundant description is omitted. The drawings are created for the purpose of explaining the invention, and it is not allowed to limit the technical scope of the present invention based on this disclosure.

Embodiment 1
As will be apparent from the following description, the inverted two-wheeled vehicle 100 (see FIG. 1) according to the present embodiment is a moving body that moves by individually controlling a set of wheels (11, 12). The inverted two-wheeled vehicle 100 includes a handle portion 45 operated by a passenger, a spring 56 (see FIG. 7) for returning the handle portion 45 whose posture has been changed according to the operation by the passenger to an initial posture, and an operation by the passenger. Accordingly, the handle 45 with the spring 56 is moved from the first posture to the intermediate posture which is a posture in the process of changing the posture of the handle 45 from the first posture to the initial posture. And a spring 58 to be returned (see FIG. 7). Further, the inverted two-wheeled vehicle 100 includes a spring 66 and a spring 68 to cope with the handle portion 45 being inclined in the reverse direction (see FIG. 7). The spring is an example of a return means, a return mechanism, and an elastic member.

  The handle portion 45 is urged inward only by the spring 56 (a state in which it is pushed back until reaching the initial posture), and is urged inward by the spring 56 and the spring 58 (an intermediate stage before reaching the initial posture). It is pushed back to the posture). By appropriately setting the spring length of the spring 58, the handle portion 45 can be provided with play. Corresponding to the play amount, the input command is invalidated or the operation amount by the input command is reduced. Thus, even when the occupant changes the handle to the standing state when traveling on the cant road, it is possible to prevent the moving body from turning against the occupant's intention.

  For example, when the occupant tilts the handle portion 45 in the right direction when viewed from the self, the occupant receives the restoring force (reaction force, repulsive force) only from the spring 56 at a certain tilt angle. And a state where the return force (reaction force, repulsion force) by both the spring 58 and the spring 58 is received. The passenger can learn an angle at which the force received through the handle portion 45 changes relatively greatly through the operation of the handle portion 45. Therefore, even when traveling on a cant road, it is possible to know how much the handle portion 45 is tilted to determine whether the inverted two-wheeled vehicle 100 can effectively turn.

  As is clear from the above description, according to the present embodiment, unintended turning when traveling on a cant road is suppressed by suppressing the occurrence of a state in which it is difficult for the passenger to grasp the operational feeling of the vehicle. Is possible. Note that the number of steps of the restoring force applied to the handle portion 45 may be two or more, and should not be limited to two. In other words, the number of springs arranged so that the spring length direction is parallel may be two or more. The means for supplying the restoring force to the handle portion 45 is not limited to a spring, but may be another elastic body such as rubber, or may be a spring member (gas spring, oil spring, etc.). In addition, it is desirable to employ a spring from the viewpoint of cost. In the following specific example, the return force of the spring is transmitted to the handle portion 45 through the parallel link mechanism 20, but this configuration should not be limited.

  Hereinafter, it demonstrates, referring drawings. FIG. 1 is a schematic front view of an inverted two-wheeled moving body. FIG. 2 is a schematic side view of the inverted two-wheeled mobile body. FIG. 3 is a schematic partially enlarged front view of the inverted two-wheeled moving body. FIG. 4 is a schematic top view of the inverted two-wheeled moving body. FIG. 5 is a schematic front view of the inverted two-wheeled moving body. FIG. 6 is a schematic partial enlarged schematic view of an inverted two-wheeled moving body. FIG. 7 is a schematic diagram showing a schematic configuration of a spring unit built in the inverted two-wheeled moving body. FIG. 8 is a graph showing the operation of the inverted two-wheeled moving body. FIG. 9 is a schematic diagram showing the operation of the inverted two-wheeled moving body. FIG. 10 is a schematic diagram illustrating a schematic configuration of a spring unit built in the inverted two-wheeled mobile body according to the comparative example. FIG. 11 is a graph showing the operation of the inverted two-wheeled mobile body according to the comparative example. FIG. 12 is a block diagram showing a schematic configuration of an inverted two-wheeled moving body. FIG. 13 is a block diagram showing a schematic configuration of an inverted two-wheeled moving body. FIG. 14 is a flowchart showing a schematic operation of the inverted two-wheeled moving body.

  As schematically shown in FIGS. 1 to 4, the inverted two-wheeled vehicle 100 includes a base unit 10, a handle part (operator) 45, and a grip part (gripping part) 46. The base unit (main body portion) 10 includes a set of wheels 11 and 12, a set of foot plates (mounting portions) 13 and 14, and a storage portion 15. The wheel 11 and the wheel 12 are opposed to each other with the storage unit 15 interposed therebetween. The foot plate 13 and the foot plate 14 are disposed to face each other with the storage portion 15 in between. The base unit 10 is provided with auxiliary wheels 16 for avoiding the base unit 10 from being grounded (see FIG. 2).

  The rider grips the grip portion 46 with both hands while placing his / her feet on the foot plates 13 and 14, and moves his / her center of gravity on the base unit 10. The posture of the handle portion 45 changes in the process of moving the center of gravity of the passenger. A command (an operation command, a steering command, a steering command) is input to the inverted two-wheeled vehicle 100 through a change in the attitude of the handle unit 45.

  Note that the posture change of the handle portion 45 is detected by a sensing means such as an acceleration sensor, an angular velocity sensor, or a gyro sensor incorporated in the handle portion 45, for example. You may detect the attitude | position change of the handle | steering-wheel part 45 using a rotary type or a linear type potentiometer. In addition, an attitude change of the handle portion 45 may be detected using an optical / magnetic technique. The attitude information of the handle unit 45 sensed by some method is supplied to a computer (controller / control device / control unit) built in the inverted two-wheeled vehicle 100 and processed.

  As shown in FIGS. 1, 2, and 4, the handle portion 45 is a columnar member. The lower end of the handle portion 45 is held by a holding component in the base unit 10. The handle 45 can be tilted in any direction (front / rear / left / right / front oblique right / front oblique left / rear oblique right / rear oblique left) with the lower end of the handle portion 45 as a rotation center. A state in which the handle portion 45 is inclined in a predetermined direction when viewed from the base unit 10 may be referred to as a “sleep state”. A state in which the handle portion 45 stands vertically when viewed from the base unit 10 may be referred to as a “stand-up state”.

  Note that the y-axis shown in FIGS. 1 to 6 coincides with the vertical direction. The x axis is an axis perpendicular to the vertical direction. The reference plane (grounding plane) on which the inverted two-wheeled vehicle 100 is arranged is a plane including the x-axis direction. The z axis coincides with the straight traveling direction of the inverted two-wheeled vehicle 100.

  The grip portion 46 is a portion that is gripped by the passenger, and is fixed to the upper end of the handle portion 45. As shown in FIGS. 1, 2, and 4, the grip portion 46 is configured such that two annular portions 46a and 46b are connected. The annular part 46a is fixed to the upper end of the handle part 45, and has a substantially triangular shape. The annular portion 46b is connected to one side of the annular portion 46a and is configured in a substantially rectangular shape. The annular portion 46b is disposed with respect to the annular portion 46a so as to be in a sleeping position. Thereby, the freedom degree of the grip mode of the grip part 46 by a passenger | crew can be raised.

  A base unit 10 shown in FIGS. 1 to 4 is a main body portion of the inverted two-wheeled vehicle 100 and individually drives the wheels 11 and 12 according to the operation of the handle portion 45 by the user. In the base unit 10, a CPU (Central Processing Unit), a memory, a motherboard, various sensors (acceleration sensor, angular acceleration sensor, gyro sensor, rotary encoder), mechanical parts (parallel link mechanism 20, spring, shaft, connecting member, etc.) ) Etc. are accommodated. In order to avoid the base unit 10 coming into contact with the ground, as shown in FIG. 2, auxiliary wheels 16 are provided on the base unit.

  The user's left foot is placed on the foot plate 13. The right plate of the passenger is placed on the foot plate 14. As shown in FIG. 4, the foot plate 13 becomes narrower as it extends outward from the storage portion 15 located on the center side. The foot plate 14 becomes narrower as it extends outward from the storage portion 15 located on the center side. The foot plate 13 and the foot plate 14 are configured symmetrically with a virtual line AX10 existing between them as a symmetric line. Note that the virtual line AX10 passes over the center of gravity of the inverted two-wheeled vehicle 100 in the initial inverted posture.

  As shown in FIG. 3, the foot plate 13 includes a flat portion 13a, a curved portion 13b, and a cover portion 13c. A portion where the flat portion 13a and the curved portion 13b are continuous is substantially U-shaped. The cover part 13c is arrange | positioned so that the wheel of the wheel 11 may be covered. By providing the cover portion 13c, the wheel 11 can be protected from dirt and the like. Similar to the foot plate 13, the foot plate 14 includes a flat portion 14a, a curved portion 14b, and a cover portion 14c. The configuration of the foot plate 14 is substantially the same as the configuration of the foot plate 13, and a duplicate description is omitted.

  The storage unit 15 includes a computer constituted by a CPU (Central Processing Unit), a memory, and the like. The configuration of the computer built in the storage unit 15 will be described later.

  As shown in FIGS. 1 and 4, a parallel link mechanism 20 is incorporated in the base unit 10. The parallel link mechanism 20 includes a link 21, a link 22, a link 23, and a link 24. The link 21 and the link 22 are links whose longitudinal direction is the x-axis direction (lateral direction), and are arranged in parallel to each other. The link 23 and the link 24 are links that extend along the y-axis direction (height direction) and are arranged in parallel to each other. The parallel link mechanism 20 changes its posture (deformation) while maintaining the parallelism between the link 21 and the link 22 and the parallelism between the link 23 and the link 24.

  Note that one end of the link 21 is rotatably connected to the link 23 via a connecting shaft. The other end of the link 21 is rotatably connected to the link 24 via a connecting shaft. One end of the link 22 is rotatably connected to the link 23 via a connecting shaft. The other end of the link 22 is rotatably connected to the link 24 via a connecting shaft. A specific method for connecting the links is arbitrary.

  As is clear from the comparison between FIGS. 1 and 5, the parallel link mechanism 20 changes its posture in synchronization with the change of the posture of the handle portion 45. The pair of wheels 11 and 12 change their posture in synchronization with the change in posture of the handle portion 45 / parallel link mechanism 20. By configuring in this way, when the inverted two-wheeled vehicle 100 moves on a flat surface, it is possible to enhance the vehicle control feeling felt by the passenger riding on the inverted two-wheeled vehicle 100. Thereby, it is possible to provide the joy of running / joy of running to the passenger who controls the inverted two-wheeled vehicle 100. The parallel link mechanism 20 and the handle portion 45 are mechanically fixed / connected, for example. The parallel link mechanism 20 and the pair of wheels 11 and 12 are mechanically fixed / connected or the like.

  As is clear from the comparison between FIG. 1 and FIG. 5, when the handle portion 45 is tilted to the right when the paper surface is viewed from the front, the parallel link pair constituted by the link 23 and the link 24 is also synchronized with this. Tilt in the direction. Similarly, when the handle portion 45 is tilted to the right, the wheel pair constituted by the wheels 11 and 12 is tilted to the right in synchronization therewith. In addition, you may grasp | ascertain that the handle | steering-wheel part 45 inclines rightward if the handle | steering-wheel part 45 rotates like a hand of a timepiece.

  As described above, the handle portion 45 is tilted by an occupant in an arbitrary direction. In the base unit 10, a return mechanism for returning the handle portion 45 whose posture is arbitrarily changed in this way to the initial posture is incorporated.

  FIG. 6 shows a partially enlarged view of the base unit 10 shown in FIG. As shown in FIG. 6, a spring 66 having a longitudinal direction in the x-axis direction is built in the base unit 10. The spring 66 is sandwiched between the holding member 62 and the holding member 64. A shaft 61 for restricting the deformation direction of the spring 66 in the x-axis direction is also provided. The shaft 61 is disposed, for example, in an internal space of a spring 66 wound in a spiral shape. The shaft 61 is sandwiched between the holding member 62 and the holding member 64. The shaft 61 is configured to be extendable and contracted according to the displacement of the holding member 62. A return characteristic may be imparted to the shaft 61 by utilizing hydraulic pressure or the like. In FIG. 6, the spring 68 shown in FIG. 7 is not shown, but the deformation direction of the spring 68 is regulated in the same manner as the spring 66 by the same mechanism as described above.

  The spring 56 disposed on the left side in FIG. 1 is also incorporated in the base unit 10 in the same manner as the spring 66. 7 is also incorporated in the base unit 10 in the same manner as the spring 68.

  With reference to FIG. 7 thru | or FIG. 9, the structure of the reset mechanism 50 and 60 integrated in the base unit 10 is demonstrated easily.

  As shown in FIG. 7, the return mechanism 50 includes a holding member 52, a holding member 54, a spring (return means / biasing means / elastic body) 56, and a spring (return means / biasing means / elastic body) 58. . The holding member 52 is fixed to the link 22. The holding member 54 is fixed to the link 21. As a result, the interval between the holding member 52 and the holding member 54 varies in synchronization with the posture change of the parallel link mechanism 20. For example, when the posture of the parallel link mechanism 20 changes from the state shown in FIG. 1 to the state shown in FIG. 5, the interval between the holding member 52 and the holding member 54 becomes shorter. That is, when the handle portion 45 schematically shown in FIG. 7 is tilted to the left, the interval between the holding member 52 and the holding member 54 is shortened. The connection relationship between the holding member and the link may be reversed.

  Like the return mechanism 50, the return mechanism 60 includes a holding member 62, a holding member 64, a spring 66, and a spring 68. The configuration / operation of the return mechanism 60 is substantially the same as that of the return mechanism 50, and thus a duplicate description is omitted.

  As shown in FIG. 7, when the handle portion 45 is in the initial position (initial posture), the interval W10 between the holding member 52 and the holding member 54 substantially corresponds to the entire length of the spring 56 when not compressed. The spring length W20 of the spring 58 is shorter than the interval W10 by the interval W30. In this way, by making the spring lengths of the spring 56 and the spring 58 different, it becomes possible to give a multi-step operational feeling to the passenger of the handle portion 45.

  FIG. 8 schematically shows the relationship between the operation amount of the inverted two-wheeled vehicle 100 with respect to the operation amount of the handle portion 45, with the turning angle as the horizontal axis and the operating force as the vertical axis. The turning angle assigned to the horizontal axis in FIG. 8 matches the inclination angle of the handle portion 45 in the turning direction. The operating force assigned to the vertical axis in FIG. 8 corresponds to the amount of movement (momentum) of the inverted two-wheeled vehicle 100.

  As schematically shown in FIG. 8, within the range indicated by the dotted line (hereinafter sometimes simply referred to as the dead zone), even if the handle portion 45 is moved, the handle portion 45 is inverted depending on the operation amount of the handle portion 45. The two-wheeled vehicle 100 does not operate effectively. In other words, the inverted two-wheeled vehicle 100 is configured not to turn effectively according to the operation of the handle portion 45 even if the operation of the handle portion 45 included in the range of the dotted line is detected. As a result, when the inverted two-wheeled vehicle 100 travels on a cant road, even if the passenger changes the handle to the standing state, it is possible to prevent the moving body from turning against the intention of the passenger. Is possible.

  In the present embodiment, the interval W30 and the dead zone range shown in FIG. 7 are associated with each other. In other words, the difference between the spring length of the spring 56, the spring length of the spring 58, and the range of the dead zone are associated with each other. Accordingly, it is possible to notify the passenger who is operating the handle portion 45 that the handle portion 45 has entered the dead zone from the dead zone. When the passenger falls the handle part 45 in an arbitrary direction from the initial posture, the passenger feels that the return force received from the handle part 45 increases when a certain inclination is exceeded. Thereby, even when traveling on a cant road, it can be understood that the handle portion 45 can be tilted up to a certain angle, and the stability of traveling of the inverted two-wheeled vehicle 100 is improved.

  The adjustment between the operation of the handle portion 45 and the actual operation of the inverted two-wheeled vehicle 100 shown in FIG. 8 is executed by a computer incorporated in the inverted two-wheeled vehicle 100. This computer control will be described later as a supplementary explanation.

  With reference to FIG. 9, the relationship between the operation of the handle portion 45 and the operation of the return mechanism 60 will be described.

  As shown in FIG. 9A, when the handle portion 45 is tilted from the initial position to a certain position (rotation angle θ10), the interval between the holding member 62 and the holding member 64 becomes narrower (interval W40 <interval W20 <interval). W10). Thereafter, when the rider stops applying force to the handle portion 45, as shown in FIG. 9B, the handle portion 45 tends to be displaced in a direction to return to the initial position, and the holding member 62 is similarly , It is displaced in a direction to return to its initial position. At this time, the holding member 62 is urged to the left by both the spring 66 and the spring 68. Thereafter, as shown in FIG. 9C, when the handle portion 45 returns to a certain position (rotation angle θ5 <rotation angle θ10), the spring 68 is in an extended state (non-contracted state). At this time, the holding member 62 is urged to the left by only the spring 66. The interval W45 between the holding member 62 and the holding member 64 is wider than the spring length W20 of the spring 68. The interval W35 between the spring 68 and the holding member 64 is narrower than the interval W30 in the initial state. When the handle portion 45 returns from a certain position (predetermined posture) to the initial position (initial posture), the force that the return mechanism 60 applies to the handle portion 45 changes in multiple steps. Therefore, the occupant can grasp the degree of force transmitted through the handle portion 45, and can thereby grasp that the dead zone has returned to the dead zone.

  The process of changing the handle 45 from the initial position to an arbitrary posture can be easily grasped if understood in the reverse order to that shown in FIG.

  For reference, a comparative example will be described with reference to FIGS. 10 and 11. As shown in FIG. 10, the return mechanism 150 includes a holding member 152, a holding member 154, and a spring 156. Similar to the return mechanism 150, the return mechanism 160 also includes a holding member 162, a holding member 164, and a spring 166. As can be seen from FIG. 10, in the case of the comparative example, only one spring is used. Therefore, it is not possible to provide a feeling of operation to the passenger in multiple steps as in this embodiment. As shown in FIG. 11, in the case of the comparative example, the proportionality coefficient does not change between the range indicated by the dotted line and the range outside the range. That is, in the case of the comparative example, no dead zone is provided. Therefore, when the inverted two-wheeled vehicle travels on a cant road, the inverted two-wheeled vehicle may turn against the passenger's intention.

  The system configuration and operation of the inverted two-wheeled vehicle 100 will be further described with reference to FIGS. Note that the contents disclosed in FIGS. 12 to 14 are merely examples, and it is not permissible to limit the present invention based on this disclosure. The operation state of the handle portion 45 may be detected by detecting a change in posture of the parallel link mechanism 20.

  As shown in FIG. 12, the inverted two-wheeled vehicle 100 includes a state detection unit 70, a main controller 80, a battery controller 92, a battery 93, a drive system 95, a drive system 96, and a storage 97. The inverted two-wheeled vehicle 100 is a device having a multiple drive system. The state detection unit 70 includes a turning angle detection unit 70a, an inclination angle detection unit 70b, and a rotation amount detection unit 70c. The drive system 95 includes a driver 95a and a motor 95b. The drive system 96 includes a driver 96a and a motor 96b.

  Each output of the state detection unit 70 is supplied to the main controller 80. The output of the main controller 80 is individually supplied to the battery controller 92, the driver 95a, and the driver 96a. The output of the battery controller 92 is supplied to the battery 93. The output of the driver 95a is connected to the motor 95b. The output of the driver 96a is connected to the motor 96b. The main controller 80 and the storage 97 are interconnected so that data input / output is possible.

  The turning angle detection unit 70a includes an acceleration sensor unit and a calculator that calculates the turning angle of the handle portion 45 based on each output of each acceleration sensor. The acceleration sensor unit is provided in the handle portion 45, for example. The acceleration sensor unit is configured to include three acceleration sensors that individually detect acceleration in three axial directions. The turning angle is zero degrees when the handle portion 45 is in the initial state. When the handle portion 45 rotates about the y-axis, the turning angle detector 70a calculates a displacement angle at a predetermined time interval and integrates it. Thereby, the current turning angle of the handle portion 45 is detected. When the handle portion 45 is displaced in the reverse direction, the turning angle detection unit 70a subtracts the calculated value from the integral value. The amount of change in angle is calculated from the integration of angular acceleration.

  The tilt angle detection unit 70b includes an acceleration sensor unit and a calculator that calculates the tilt angle of the handle unit 45 based on each output of the acceleration sensor. The acceleration sensor unit is provided in the handle portion 45, for example. The inclination angle is zero degrees when the handle portion 45 is in the initial state. When the handle portion 45 rotates around the x axis, the tilt angle detection unit 70b calculates a displacement angle at a predetermined time interval, and integrates this. Thereby, the current inclination angle of the handle portion 45 is detected. When the handle portion 45 is displaced in the reverse direction, the turning angle detection unit 70a subtracts the calculated value from the integral value.

  The rotation amount detection unit 70c includes a rotary encoder provided in association with each of the wheels 11 and 12, and a calculator that calculates the rotation amount of the wheels 11 and 12 based on the outputs of the individual rotary encoders. Instead of the rotation amount detection unit 70c, an acceleration sensor unit may be incorporated in the base unit 10, and the wheel speed may be detected using this output. The type of the rotary encoder is arbitrary and may be an absolute type.

  The main controller 80 uses the detection value indicating the turning angle supplied from the turning angle detection unit 70a, the detection value indicating the inclination angle supplied from the inclination angle detection unit 70b, and the rotation amount supplied from the rotation amount detection unit 70c. The drive systems 95 and 96 are individually controlled based on the detected values shown. The main controller 80 includes a CPU (arithmetic processor) that executes a program read from the storage 97. The drive system 95 is a mechanism that drives the wheels 11. The drive system 96 is a mechanism that drives the wheels 12.

  In the present embodiment, the main controller 80 determines whether or not the detection value indicating the turning angle supplied from the turning angle detection unit 70a belongs to the dead zone shown in FIG. For example, when the detected value belongs to the dead zone, the main controller 80 instructs the drive systems 95 and 96 to turn slightly as schematically shown in FIG. For example, when the detected value belongs to the dead zone, the main controller 80 does not instruct the driving systems 95 and 96 to perform a turning operation. By operating the main controller 80 in this way, even when the rider changes the handle to the standing state when traveling on the cant road, the moving body turns against the intention of the rider. It becomes possible to suppress.

  A specific example of a mechanism for controlling the drive of the drive system 95 will be described with reference to FIG. As shown in FIG. 13, the main controller 80 includes a speed command generation unit 82, an actual speed calculation unit 88, an adder 84, and a speed adjustment unit 86. The speed command generator 82 generates a speed value indicating a target speed based on the outputs of the turning angle detector 70a and the inclination angle detector 70b. The actual speed calculation unit 88 generates a speed value indicating the current speed based on the output of the rotation amount detection unit 70c (the rotation amount of the wheel 11 per unit time). The adder 84 subtracts the speed value supplied from the speed command generator 82 from the speed value supplied from the speed command generator 82. The speed adjustment unit 86 adjusts the speed value supplied from the adder 84 by a calculation process or the like. The output of the speed adjustment unit 86 is supplied to the driver 95a of the drive system 95. The driver 95a drives the motor 95b according to the adjusted speed value. The rotational force generated by the motor 95b is transmitted to the wheel 11, and the wheel 11 rotates.

  The speed command generation unit 82 adjusts the target speed according to the turning angle. As a result, a difference in rotation amount occurs between the wheels 11 and 12, and the turning of the inverted two-wheel vehicle is realized. As described above, when the turning angle belongs to the dead zone, the turning operation is suppressed. This operation is executed by the speed command generator 82, for example. The speed command generator 82 ignores the turning angle and calculates the target speed unless the turning angle exceeds a predetermined value. As a result, a speed value that does not depend on the turning angle is calculated, and the turning operation of the inverted two-wheeled vehicle 100 is suppressed.

  The main controller 80 also controls the drive of the drive system 96 as in the case of the drive system 95.

  The storage 97 stores programs, control values, user data, and the like. The battery controller 92 is an IC (Integrated Circuit) that controls the state of the battery 93. The battery 93 supplies power to electrical components and the like existing in the inverted two-wheeled vehicle 100.

  The operation of the inverted two-wheeled vehicle 100 will be described with reference to FIG.

  First, the passenger tilts the handle (S101). In response to this, the tilt angle of the steering wheel in the turning direction (lateral direction) is detected (S102). Specifically, the turning angle detector 70 a calculates the turning angle of the handle 45 and supplies it to the main controller 80.

  Next, it is determined whether it is within the dead zone (S103). Specifically, the main controller 80 determines whether or not the turning angle belongs to the dead zone. When the main controller 80 determines that the turning angle belongs to the dead zone, the turning is not performed and the process returns to step S102. On the other hand, when the main controller 80 determines that the turning angle does not belong to the dead zone, the turning is performed.

Embodiment 2
In the present embodiment, in addition to the configuration of the first embodiment, a notification mechanism that notifies the occupant of the turning amount is incorporated in the inverted two-wheeled vehicle 100. Thereby, it is possible to notify the passenger of the turning amount of the inverted two-wheeled vehicle 100. The passenger can grasp whether or not the current position / posture of the steering wheel belongs to the dead zone, so that the state of the apparatus can be grasped more accurately. In this embodiment, the same effect as described in Embodiment 1 can be obtained.

  Hereinafter, description will be given with reference to the drawings. FIG. 15 is a block diagram showing a schematic configuration of an inverted two-wheeled moving body. FIG. 16 is a schematic diagram illustrating a configuration of a display unit incorporated in an inverted two-wheeled moving body. FIG. 17 is a flowchart showing a schematic operation of the inverted two-wheeled moving body.

  As shown in FIG. 15, the inverted two-wheeled vehicle 100 includes a display unit 98 in addition to the configuration of the first embodiment. The display unit 98 is the display device 200 schematically shown in FIG. The display device 200 is provided, for example, in the grip portion 46 of the inverted two-wheeled vehicle 100 shown in FIG. The display device 200 includes a plurality of regions R10 to R16 arranged in a line. In each region, light emitting elements such as LEDs (Light Emitting Diodes) are individually incorporated. As schematically shown in FIG. 16, the display device 200 lights more areas when the turning amount increases. For example, when the turning amount is a predetermined value, the region R10 is lit. When the turning amount is three times the predetermined value, the regions R10 to R12 are lit. Note that the lighting control of each area of the display device 200 is executed by the main controller 80.

  The main controller 80 calculates a turning angle based on detected values such as an inclination angle and a turning angle. The main controller 80 determines whether or not the calculated turning angle belongs to the dead zone. When the calculated turning angle belongs to the dead zone, the main controller 80 does not control lighting of the area included in the display device 200. When the calculated turning angle exceeds the dead zone, the main controller 80 controls the lighting of the area included in the display device 200 according to the absolute value of the turning angle value.

  As shown in FIG. 17, when the turning operation is performed in S104, the turning amount is notified substantially simultaneously (S105). Specifically, the main controller 80 described above controls lighting of the area included in the display device 200 according to the absolute value of the turning angle. Thereby, the amount of turning of the inverted two-wheeled vehicle 100 can be notified to the passenger.

  Note that a specific method for informing the passenger of the turning amount is arbitrary, and instead of the light notification, a sound notification, a vibration notification, a blow notification, or the like may be employed.

  Finally, with reference to FIG. 18, the effect of the above-described embodiment will be schematically described. As shown in FIG. 18 (a), in the conventional type inverted two-wheeled vehicle 500, when the rider raises the handle portion when traveling on the cant road 400, it is schematically shown in the right side view of FIG. 18 (a). In some cases, the inverted two-wheeled vehicle 500 may make a large turn.

  In the inverted two-wheeled vehicle 100 according to the above-described embodiment, even if the handle is raised by the rider when traveling on the cant road 400, the inverted two-wheeled vehicle 100 is schematically shown in the right side view of FIG. 100 does not turn greatly, but behaves like turning small. As is apparent from the above description, the inverted two-wheeled vehicle 100 may not turn at all, instead of turning the inverted two-wheeled vehicle 100 small as shown in FIG.

  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, the specific configuration of the return mechanism is arbitrary. You may employ | adopt elastic bodies other than a spring. The number of springs should just be two or more, and should not be limited to two.

DESCRIPTION OF SYMBOLS 100 Inverted two-wheeled vehicle 10 Base unit 11, 12 Wheel 13 Foot plate 14 Foot plate 15 Storage part 20 Parallel link mechanism 45 Handle part 46 Grip part 50, 60 Returning mechanism 52, 62 Holding member 54, 64 Holding member 56, 66 Spring 58, 68 Spring

Claims (11)

A moving body that moves by controlling rotation of a plurality of wheels,
An operator operated by a passenger,
First return means for returning the manipulator whose posture has changed in response to an operation by the passenger to an initial posture;
The operation element that has changed to a first position different from the initial position in response to an operation by the occupant to an intermediate position that is a position in the process of changing the position of the operation element from the first position to the initial position Second return means for returning the operating element together with the first return means;
A moving object comprising:   The movable body according to claim 1, wherein each of the first and second return means includes at least an elastic member. Each of the first and second return means includes at least an elastic member,
The moving body according to claim 1 or 2, wherein the elastic force of the elastic member included in the second return means is different from the elastic force of the elastic member included in the first return means. Each of the first and second return means includes at least a spring,
The movement according to any one of claims 1 to 3, wherein a spring length of the spring included in the second return means is different from a spring length of the spring included in the first return means. body. A third return means for returning the manipulator whose posture has been changed according to an operation by the passenger to an initial posture;
The manipulator that has been changed to a second posture different from the initial posture in response to an operation by the passenger, to an intermediate posture that is a posture in the process of changing the posture of the manipulator from the second posture to the initial posture A fourth return means for returning the operating element together with the third return means;
The moving body according to any one of claims 1 to 4, further comprising:   The moving body according to any one of claims 1 to 5, wherein the moving body is configured not to effectively turn when the attitude of the operator changes from the initial attitude to the intermediate attitude. .   When the attitude of the operating element changes from the initial attitude to the intermediate attitude, it is configured so as not to effectively turn, and when the attitude of the operating element changes from the intermediate attitude to the first attitude, it is effective. The mobile body according to any one of claims 1 to 6, wherein the mobile body is configured to pivot. A mounting section on which both feet of the passenger are mounted;
A parallel link mechanism that changes posture according to the center of gravity movement of the occupant on the placement unit,
Each of a pair of said wheels is adjusted so that it may incline with respect to a ground surface according to the change of the attitude | position of the said parallel link mechanism, The Claim 1 thru | or 7 characterized by the above-mentioned. The moving body described.   The moving body according to claim 8, wherein the first and second return means act on the operation element via at least the parallel link mechanism.   The first return means acts on the parallel link mechanism so that the parallel link mechanism returns to the initial position in response to the parallel link mechanism changing from the initial position. The moving body described in 1.   The operation element that has changed to a first position different from the initial position in response to an operation by the passenger is first changed to an intermediate position that is a position in the process of changing the position of the operation element from the first position to the initial position. A moving body configured to change the posture with a return force and then change the posture of the operation element with a second return force that is weaker than the first return force.

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