JP2015051647A - Inverted pendulum type two-wheel barrow moving body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an inverted pendulum type two-wheel barrow in which grounding risk of an auxiliary bar is further reduced.SOLUTION: An inverted pendulum type two-wheel barrow 1 comprises: wheels 10 driven by an actuator 14; a step 12 coupled to the wheels 10, and used for riding of a rider; a handle 15 coupled to the step 12; one or more grounding modules 11 disposed on the front or rear side of the wheels, which can be lifted up and down; a module lifting sensor for detecting a vertical position of the grounding modules 11; a rotation angle measurement sensor for measuring a rotation angle or rotation angle speed of the wheels 10; an attitude measurement sensor for measuring an attitude of the step; and an actuator drive part 13 for creating a drive command to the actuator 14, based on measurement results of the module lifting sensor, the rotation angle measurement sensor and the attitude measurement sensor, and input from the handle 15.

Description

  The present invention relates to an inverted motorcycle moving body.

  2. Description of the Related Art Inverted motorcycles are known that have an auxiliary bar that is installed on the front or rear side of a wheel when a passenger gets off. Patent Document 1 describes an inverted motorcycle having an auxiliary bar.

JP 2011-178196 A

  However, in the inverted motorcycle described in Patent Document 1, there is a possibility that the auxiliary bar may be grounded while the passenger is riding on the inverted motorcycle due to, for example, an operation of the passenger or a disturbance during balance training. When the auxiliary bar contacts the ground, problems such as the wheels of the inverted motorcycle spinning idle occur.

  The present invention has been made to solve such a problem, and an object of the present invention is to provide an inverted motorcycle that further reduces the risk of contact with the auxiliary bar.

  An inverted two-wheeled vehicle according to the present invention includes a wheel driven by an actuator, a step connected to the wheel for a passenger to board, a handle connected to the step, and a front side or a rear side of the wheel. One or more grounding modules that can be moved up and down, a module lifting sensor that detects the vertical position of the grounding module, a rotation angle measuring sensor that measures the rotation angle or rotation angular velocity of the wheel, and the attitude of the step An attitude measurement sensor to be measured; an actuator driving unit that generates a drive command to the actuator based on measurement results of the module elevation sensor, the rotation angle measurement sensor, and the attitude measurement sensor; and an input from the handle; , Has. Thereby, the speed of the inverted two-wheeled vehicle 1 can be controlled according to the height of the auxiliary bar 11.

  ADVANTAGE OF THE INVENTION According to this invention, the inverted two-wheeled vehicle which reduced the contact risk of the auxiliary bar more can be provided.

1 is a schematic diagram illustrating a side surface of an inverted motorcycle 1 according to a first embodiment. 1 is a diagram illustrating an inverted motorcycle 1 according to a first embodiment. FIG. It is a figure which shows the clearance of the auxiliary bar 11 concerning Embodiment 1. FIG. 3 is a flowchart showing the relationship between the clearance of the auxiliary bar 11 and the speed control according to the first embodiment. 3 is a graph showing a speed suppression gain A according to the first exemplary embodiment. It is a figure which shows the control program of the controller 13 concerning Embodiment 2. FIG. 5 is a flowchart showing control of a controller 13 according to the second embodiment.

Embodiment 1
Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic diagram showing a side surface of an inverted motorcycle 1 according to the present embodiment. In the following description, the front, rear, left and right viewed from the passenger on the inverted motorcycle will be used as a reference.

  The inverted motorcycle 1 includes a wheel 10, an auxiliary bar 11 as a grounding module, a step 12, a controller 13, an actuator 14, and a handle 15.

  The wheel 10 is two wheels arranged in parallel and coaxially. An actuator 14 is connected to each of the two wheels 10, and the wheel 10 is driven by the actuator 14. Although not shown here, a rotation angle measurement sensor 101 that measures a rotation angle or a rotation angular velocity is connected to each of the two wheels 10.

  The step 12 is provided on the shaft of the wheel 10 and is connected to the handle 15 so as to be L-shaped when viewed from the side. The rider steers the inverted motorcycle 1 in the front-rear and left-right directions by tilting the handle 15 back and forth or moving the weight on the step 12 while riding on the step 12. Although not shown here, step 12 includes an attitude measurement sensor 121 that measures the attitude of step 12.

  The auxiliary bar 11 is provided on the front side of the wheel 10 when viewed from the passenger on the inverted motorcycle 1. The auxiliary bar 11 is a part of the handle 15 here. The auxiliary bar 11 has a lift actuator 111. The raising / lowering actuator 111 raises / lowers the auxiliary bar 11. Here, the auxiliary bar 11 is lifted and lowered by the lift actuator 111, but may be lifted and lowered manually by the passenger. The auxiliary bar 11 includes a module lifting sensor 112 that detects the vertical position of the auxiliary bar 11.

  The actuator 14 is specifically composed of a motor or the like, and drives the wheel 10. The actuator 14 is connected to the controller 13 and is driven in response to a drive command from the controller 13.

  The controller 13 transmits a drive command to the actuator 14 based on the input from the handle 15 and the measurement results of the rotation angle measurement sensor 101, the attitude measurement sensor 121, and the module lift sensor 112.

  FIG. 2A is a diagram showing the inverted motorcycle 1 according to the present embodiment. The traveling direction and speed of the inverted motorcycle 1 are determined by the steering operation of the passenger. For example, when moving forward, the handle 15 is tilted forward.

  FIG. 2B is a graph showing the relationship between the inclination angle of the handle 15 and the speed of the inverted motorcycle 1. In the inverted two-wheeled vehicle 1, the speed of the inverted two-wheeled vehicle 1 increases as the handle 15 is tilted greatly. The controller 13 calculates the clearance between the auxiliary bar 11 and the ground, controls the actuator 14 so that the auxiliary bar 11 does not touch the ground, and suppresses the speed of the inverted motorcycle 1. Thereby, it can suppress that the auxiliary | assistant bar of the inverted motorcycle 1 installs in the ground, for example, can prevent a wheel idling during driving | running | working.

  Next, the control method of the inverted motorcycle 1 will be described in more detail. FIG. 3 is a view showing the clearance of the auxiliary bar 11. For example, when the auxiliary bar 11 is substantially perpendicular to the ground, the clearance L is the height h of the auxiliary bar 11 from the ground.

  For example, when the handle 15 is inclined at an angle θ with respect to the vertical direction from the ground, the clearance L is the height of the auxiliary bar 11 with the length from the base portion of the handle 15 to the end of the auxiliary bar 11 being d. It is lower than the height h by the inclination (d · sin θ) of the auxiliary bar 11. Therefore, the clearance L is hd · sinθ.

  Next, the relationship between the auxiliary bar 11 and the speed will be described. FIG. 4 is a flowchart showing the relationship between the clearance of the auxiliary bar 11 and the speed control. Here, the controller 13 has a first allowable threshold and a second allowable threshold. The first allowable threshold value is a threshold value for performing the speed suppression control so that the auxiliary bar 11 does not touch the ground. The second allowable threshold value is a threshold value for determining that the auxiliary bar 11 is in contact with the ground.

  First, the controller 13 acquires the height (lowering amount) of the auxiliary bar 11 from the module lift sensor 112 (step S1). Next, the pitch angle angle of the inverted motorcycle 1 is acquired from the attitude measurement sensor 121 (step S2), and the clearance L from the ground is calculated from the pitch angle and the height h of the auxiliary bar 11 (step S3).

  If the clearance L is equal to or greater than the first allowable threshold (step S4: No), the process returns to step 1. When the clearance L is smaller than the first allowable threshold (step S4: Yes), speed suppression control according to the clearance L is performed (step S5).

  Next, the clearance L is compared with the second allowable threshold value. If the clearance L is equal to or larger than the second allowable threshold value (step S6: No), the process returns to step S5, and the speed suppression control according to the clearance L is performed. When the clearance L is smaller than the second allowable threshold (step S6: Yes), the power to the actuator 14 is shut off.

  FIG. 5 is a graph showing the speed suppression gain A. The speed suppression gain A is used to perform brake control so as to ensure a clearance L between the auxiliary bar 11 and the ground when the vehicle body speed is high. If the clearance L is smaller than the first allowable threshold and larger than the second allowable threshold, the speed suppression gain A increases as the clearance L increases so that the clearance L and the speed suppression gain A are approximately proportional. Set to be larger. When the clearance L is equal to or greater than the first allowable threshold, the speed suppression gain A is 1 and constant.

  The inverted two-wheeled vehicle 1 according to the present embodiment can forcibly decelerate the inverted two-wheeled vehicle 1 by performing speed control according to the clearance L, for example, when the auxiliary bar 11 is moved downward. it can. Further, a speed limit is set according to the clearance of the auxiliary bar 11 from the ground, and when the auxiliary bar 11 is grounded, the control of the actuator 14 of the inverted motorcycle 1 is forcibly cut off. As a result, when the clearance L of the auxiliary bar 11 is small, the amount of change in the posture angle of the inverted motorcycle 1 in the front-rear direction becomes small, so the risk that the auxiliary bar contacts the ground is reduced. Moreover, even if the auxiliary bar 11 is installed on the ground, since the speed is suppressed and the slip of the wheel 10 is suppressed, safety can be improved.

  In addition, although the method of calculating the clearance L correctly was described here, the lowering of the auxiliary bar 11 is detected, and the auxiliary bar 11 is only required to perform speed suppression that is allowable at the lowest end (worst condition). The suppression may not be according to the clearance. Furthermore, if the conditions satisfying that the traveling speed of the inverted motorcycle 1 is equal to or less than a certain speed and that the tilt of the inverted motorcycle 1 is tilted toward the auxiliary bar, the power is cut off. It may be configured. In this case, the auxiliary bar 11 does not need to be moved up and down by the lift actuator 111, and the module lift sensor 112 only needs to be able to detect whether the auxiliary bar 11 is positioned above or below.

  Next, the control process of the controller 13 will be further described. FIG. 6 is a diagram showing a control program of the controller 13. The controller 13 includes a speed control unit 131, a current control unit 132, a posture control 133, and a posture calculation 139. The speed control unit 131 includes a speed control 134 and a current control unit 132. The current control unit 132 includes a current control 135 and a motor 136. Here, it is assumed that the influence of disturbance is taken into consideration for the motor 136 and the load 137.

  First, when a state command is input to the controller 13, the attitude control 133 generates a speed command from the state command and inputs it to the speed control 134. The speed control 134 receives the speed command and inputs a torque (current) command to the current control 135. The current control 135 inputs current to the motor 136. The motor 136 is driven by the current from the current control 135 and applies torque to the load 137.

  The speed of the motor 136 is negatively fed back to the speed control 134. The current of the motor 136 is negatively fed back to the current control 135. Further, the resolver of the motor is converted into a motor angle by the conversion 138 and input to the attitude control 133. These processes are for correcting the influence of disturbance of the motor 136.

  Here, the torque (current) command of the speed control 134 will be further described. First, when the speed control 134 performs normal inversion control, the operation is as follows.

  Next, when the clearance from the ground is larger than a predetermined threshold value, the following occurs.

  Next, when the clearance from the ground is equal to or smaller than a predetermined threshold value, the following occurs.

Ａは０＜Ａ＜１であり、Ｂは任意の値である。

A is 0 <A <1, and B is an arbitrary value.

  Thereby, speed control according to the clearance L can be performed while correcting the influence of the disturbance of the motor and the disturbance of the load, and the inverted motorcycle 1 can be more appropriately controlled.

  Next, control when the auxiliary bar 11 is lowered will be described. FIG. 7 is a flowchart showing the control of the controller 13. The controller 13 determines whether the auxiliary bar 11 can be lowered from the clearance L of the auxiliary bar 11 and the traveling speed of the vehicle body, and performs the lowering control of the auxiliary bar 11.

  When the lowering of the auxiliary bar 11 is input, the controller 13 acquires the lowering amount of the auxiliary bar 11 from the module lift sensor 112 (step S10), and acquires the vehicle body speed of the inverted motorcycle 1 from the rotation angle measurement sensor 101 ( Step S11).

  When the raising / lowering lock threshold speed of the auxiliary bar 11 is smaller than the vehicle body speed (step S12: Yes), the raising / lowering of the auxiliary bar 11 is locked (step S13). Then, a speed limit is set (step S14), and deceleration control is performed (step S15). When the vehicle body speed is larger than the speed limit threshold (step S16: Yes), the process returns to the deceleration control in step S15. When the vehicle body speed is equal to or less than the speed limit threshold (step S16: No), the process returns to step S11.

  When the vehicle body speed is equal to or higher than the lifting lock threshold speed of the auxiliary bar 11 (step S12: No), the lifting lock of the auxiliary bar 11 is released (step S17), and the auxiliary bar 11 is controlled to be lowered (step S18).

  In the inverted two-wheeled vehicle 1 according to the present embodiment, speed control is performed in accordance with the descending amount of the auxiliary bar 11, and the auxiliary bar 11 is not lowered when the vehicle body speed is larger than the speed limit threshold. Therefore, the risk of grounding the auxiliary bar 11 of the inverted motorcycle 1 can be further suppressed, and the safety can be further increased.

  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.

DESCRIPTION OF SYMBOLS 1 Inverted motorcycle 10 Wheel 11 Auxiliary bar 12 Step 13 Controller 14 Actuator 15 Handle 101 Rotation angle measurement sensor 111 Lift actuator 112 Module lift sensor 121 Attitude measurement sensor 131 Speed control section 132 Current control section 133 Attitude control 134 Speed control 135 Current control 136 Motor 137 Load 138 Conversion 139 Attitude calculation

Claims (1)

Wheels driven by actuators;
Coupled to the wheel for a passenger to board;
A handle coupled to the step;
One or more grounding modules provided on the front side or the rear side of the wheel and capable of moving up and down;
A module lifting sensor for detecting the vertical position of the ground module;
A rotation angle measurement sensor for measuring the rotation angle or rotation angular velocity of the wheel;
An attitude measurement sensor for measuring the attitude of the step;
An inverted two-wheeled vehicle comprising: an actuator driving unit that creates a drive command to the actuator based on measurement results of the module lift sensor, the rotation angle measurement sensor, and the attitude measurement sensor, and an input from the handle.

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