JP2016049787A - Inverted moving body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To stabilize a vehicle main body at off-boarding.SOLUTION: An inverted moving body travels while maintaining an inverted state, The inverted moving body comprises: a valve main body 2 on which an occupant gets on; drive means which drives at least one wheel arranged at the vehicle main body 2; an auxiliary stand 6 which is arranged at the vehicle main body 2 so as to be oscillatory in a vertical direction; and control means which descends the auxiliary stand 6 by controlling the oscillation of the auxiliary stand 6, makes the vehicle main body 2 inclined to a fore-and-aft direction by controlling the drive means, and makes the auxiliary stand 6 ground with a road face. A ground face between the auxiliary stand 6 and the road face is offset to a rear side with respect to a center axis around which the auxiliary stand 6 oscillates.SELECTED DRAWING: Figure 5

Description

  The present invention relates to an inverted moving body that travels while maintaining an inverted state.

  There is known an inverted moving body in which an auxiliary wheel is provided on a vehicle main body on which a passenger rides to stabilize the vehicle main body (see, for example, Patent Document 1).

JP 2011-168236 A

A case is assumed in which an auxiliary stand is provided on the vehicle body of the inverted moving body to assist a passenger to get off, for example. In this case, for example, the inverted moving body controls the drive wheels to tilt the vehicle body forward and ground the auxiliary stand on the road surface. At this time, a frictional force generated between the auxiliary stand and the road surface generates a force that drags the vehicle body backward. This drag force may cause the vehicle body to become unstable.
The present invention has been made to solve such a problem, and a main object of the present invention is to provide an inverted moving body capable of stabilizing the vehicle main body when getting off.

An aspect of the present invention for achieving the above object is an inverted moving body that travels while maintaining an inverted state, in which a vehicle body on which a passenger rides and at least one wheel provided on the vehicle body Driving means for driving the vehicle, an auxiliary stand provided on the vehicle main body so as to be movable in the vertical direction, the auxiliary stand is lowered by controlling the swinging of the auxiliary stand, and the driving means is controlled to control the vehicle main body. Control means for grounding the auxiliary stand to the road surface by inclining in the front-rear direction, and the grounding surface between the auxiliary stand and the road surface is offset rearward with respect to a central axis on which the auxiliary stand swings It is an inverted type moving body characterized by that.
In this aspect, the grounding surface between the auxiliary stand and the road surface is the center of the auxiliary stand so that a moment force about the central axis is generated by a reaction force generated when the auxiliary stand contacts the road surface. It may be offset to the rear side with respect to the shaft.
In this aspect, the moment force centered on the central axis due to the reaction force generated when the auxiliary stand contacts the road surface is centered on the central axis due to the frictional force generated between the auxiliary stand and the road surface. It may be more than the moment force.
In this one aspect, an inclined surface may be formed on the distal end side of the auxiliary stand so that the rear side protrudes when the auxiliary stand is lowered.
In this aspect, the auxiliary stand may further include a stopper for positioning the auxiliary stand by abutting forward with respect to the auxiliary stand in a state where the auxiliary stand is grounded.

  According to the present invention, it is a main object to provide an inverted moving body capable of stabilizing a vehicle main body when getting off.

It is a front view which shows the structure of the inverted moving body which concerns on one Embodiment of this invention. It is a block diagram which shows an example of the system configuration | structure of the inverted moving body which concerns on one Embodiment of this invention. It is a figure which shows an example of the state which lowered the auxiliary stand. It is a figure which shows an example of the state which raised the auxiliary stand. It is a figure which shows the moment force produced centering on the center axis | shaft of an auxiliary stand. It is a flowchart which shows the vehicle exit assistance control method of the inverted moving body which concerns on one Embodiment of this invention.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a front view showing a configuration of an inverted moving body according to an embodiment of the present invention. FIG. 2 is a block diagram showing an example of the system configuration of the inverted moving body according to the embodiment of the present invention. The inverted mobile body 1 according to the present embodiment is configured as, for example, an inverted two-wheeled vehicle that travels while an occupant is placed and an inverted state is maintained. The inverted moving body 1 includes a vehicle body 2, wheels 3L and 3R, wheel drive units 4L and 4R, an operation handle 5, an auxiliary stand 6, a peristaltic mechanism 7, and a control device 8. .

  The operation handle 5 is moved forward or backward by tilting the operation handle 5 in the front-rear direction. When the operator applies a load to the step portion 27R or 27L, the vehicle body upper member 23, the vehicle body lower member 24, the side members 25L and 25R, and the link mechanisms of the coil springs 26L and 26R are displaced in the roll direction. Can be turned. As the link mechanism is displaced, the operation handle 5 is tilted to the left or right. This is a result of the load applied by the operator's foot, and the operation handle 5 is used as a support when the operator moves the load. By doing so, the operation handle 5 can be an auxiliary material for the operator to maintain the balance of the body on the vehicle body. The roll axis refers to an axis that passes through the center of the vehicle body 2 and is parallel to the traveling direction of the inverted moving body 1.

  For example, an exit switch 51 is provided at the upper end of the operation handle 5. When the passenger depresses the getting-off switch 51, a getting-off assist start trigger signal is supplied to the control device 8. The control device 8 executes a getting-off assist control for assisting the passenger to get off, which will be described later, in accordance with the getting-off assistance start trigger signal.

  The vehicle body 2 supports the operation handle 5 so as to be rotatable in the roll direction. The pair of wheels 3L and 3R are coaxially arranged on both sides in a direction orthogonal to the traveling direction of the vehicle main body 2 and are rotatably supported by the vehicle main body 2.

  A substantially T-shaped auxiliary stand 6 that comes in contact with the road surface is provided in front of the vehicle body 2 so as to be swingable in the vertical direction (FIGS. 3 and 4). The auxiliary stand 6 is pivotally supported by a central shaft 21 provided with the vehicle body 2 and swings in the vertical direction about the central shaft 21.

  The vehicle body 2 is provided with a swing mechanism 7 that swings the auxiliary stand 6. The peristaltic mechanism 7 is composed of, for example, a motor and a reduction gear connected to a rotating shaft of the motor so as to be able to transmit power. The swing mechanism 7 swings the auxiliary stand 6 in the vertical direction in response to a control signal from the control device 8. For example, when starting the getting-off assist control, the control device 8 controls the peristaltic mechanism 7 to lower the auxiliary stand 6 (FIG. 3). Then, the control device 8 controls the wheel drive units 4L and 4R to tilt the vehicle main body 2 in the forward direction so that the auxiliary stand 6 is grounded on the road surface. As a result, the passenger can safely get off while the vehicle body 2 is stabilized by the auxiliary stand 6.

  The control device 8 controls the peristaltic mechanism 7 to lower the auxiliary stand 6 and then starts the getting-off assist control, and controls each wheel drive unit 4L, 4R to tilt the vehicle body 2 forward. The auxiliary stand 6 may be grounded on the road surface. Furthermore, when starting the getting-off assist control, the control device 8 controls the wheel drive units 4L and 4R to tilt the vehicle body 2 forward while controlling the peristaltic mechanism 7 and lowering the auxiliary stand 6. The auxiliary stand 6 may be grounded on the road surface.

  When the occupant gets on the vehicle main body 2, the control device 8 controls the peristaltic mechanism 7 so that the auxiliary stand 6 is perished upward to be separated from the road surface (FIG. 4). Although the control device 8 controls the swing mechanism 7 to automatically swing the auxiliary stand 6, it is not limited to this. The control device 8 may control the peristaltic mechanism 7 according to the operation information input by the passenger and cause the auxiliary stand 6 to peristate.

  The vehicle main body 2 is provided with a mechanical stopper 22 (one specific example of a stopper) that restricts the counter-clockwise swing of the auxiliary stand 6. The tip of the mechanical stopper 22 abuts the auxiliary stand 6 toward the front at a position where the auxiliary stand 6 slightly passes the lowermost lower point, and positions the auxiliary stand. Thereby, it is possible to prevent the auxiliary stand 6 from going too far counterclockwise due to the frictional force with the road surface, and to stabilize the grounding position of the auxiliary stand 6.

  The vehicle body 2 is, for example, a vehicle body upper member 23 and a vehicle body lower member 24 which are arranged vertically in parallel with each other and a vehicle body upper member 23 and a vehicle body lower member 24 which are arranged in parallel with each other and on the left and right. It is comprised as a parallel link mechanism which has a pair of side member 25L, 25R connected so that a movement was possible. Between the vehicle body upper member 23 and the vehicle body lower member 24 of the parallel link mechanism, the angles formed by the vehicle body upper member 23 and the vehicle body lower member 24 and the pair of side surface members 25L and 25R are maintained at right angles. A pair of coil springs 26L and 26R that generate a spring force are interposed. Step portions 27L and 27R are independently attached to the upper ends of the pair of side members 25L and 25R, respectively. Each step part 27L, 27R inclines in the left-right direction together with each side member 25L, 25R in accordance with the movement of the center of gravity of the passenger.

  Wheel drive units 4L and 4R are attached to the outer surfaces of the pair of side members 25L and 25R, respectively. The wheel drive units 4L and 4R are a specific example of the drive means, and can rotate and drive the pair of wheels 3L and 3R independently. The wheel drive units 4L and 4R can be constituted by, for example, a wheel drive motor and a reduction gear connected to a rotation shaft of the wheel drive motor so as to be able to transmit power.

  An angle detection sensor 9 for detecting an operation amount (rotation amount) of the operation handle 5 is attached to the vehicle body 2. As the angle detection sensor 9, for example, a potentiometer, a variable capacitor structure sensor, or the like can be applied.

  The vehicle body upper member 23 incorporates drive circuits 10L and 10R for driving a pair of wheel drive units 4L and 4R. In addition, the vehicle body lower member 24 is used to drive and control the attitude sensor unit 11 that detects the attitude of the vehicle body 2 and the operation handle 5 and outputs detection signals thereof, and a pair of wheel drive units 4L and 4R. And a control device 8 for outputting the control signal.

  The control device 8 is a specific example of the control means, and performs predetermined arithmetic processing based on a detection signal from the attitude sensor unit 11, a detection signal from the angle detection sensor 9, a dismount assistance start trigger signal from the dismount switch 51, and the like. And necessary control signals are output to the pair of wheel drive units 4L, 4R and the like. The control device 8 executes the inversion control for maintaining the inverted state of the inverted moving body 1 by controlling the wheel drive units 4L and 4R.

  The control device 8 includes, for example, an arithmetic circuit 81 having a microcomputer (CPU) and a storage device 82 having a program memory, a data memory, other RAMs, ROMs, and the like. The pair of drive circuits 10L and 10R independently control the rotational speed and direction of the pair of wheels 3L and 3R, and the pair of wheel drive units 4L and 4R are individually connected to them.

  The attitude sensor unit 11 detects the angular velocity and angular acceleration of the inverted moving body 1, and is composed of, for example, a gyro sensor and an acceleration sensor. When the occupant tilts the operation handle 5 forward or backward, the step portions 27L and 27R tilt in the same direction. The posture sensor unit 11 detects angular velocity and angular acceleration corresponding to the tilt.

  Based on the angular velocity and the angular acceleration detected by the attitude sensor unit 11, the control device 8 drives and controls the wheel drive units 4 </ b> L and 4 </ b> R so that the inverted moving body 1 moves in the tilt direction of the operation handle 5. Thus, the passenger can move the inverted moving body 1 forward or backward by inclining the step portions 27L and 27R by moving the center of gravity.

  By the way, when the inverted moving body executes, for example, getting-off control, the vehicle body is tilted forward and the auxiliary stand is grounded on the road surface. At this time, a force that drags the vehicle body backward is generated by the frictional force generated between the auxiliary stand and the road surface. The vehicle main body is pulled by the drag force, and the vehicle main body may become unstable conventionally.

  On the other hand, in the inverted moving body 1 according to the first embodiment, the ground contact surface P1 between the auxiliary stand 6 and the road surface is offset to the rear side with respect to the central axis 21 on which the auxiliary stand 6 swings. (FIG. 5).

  As a result, a counterclockwise moment force M1 about the central axis 21 can be generated by an upward reaction force received from the road surface when the auxiliary stand 6 contacts the road surface. At the same time, the moment force M2 in the clockwise direction around the central axis 21 is generated by the rearward frictional force generated between the auxiliary stand 6 and the road surface, and serves as the drag force of the vehicle body 2. However, according to the inverted moving body 1 according to the first embodiment, the counterclockwise moment force M1 generated by the offset can counteract the clockwise moment force M2 that becomes the drag force of the vehicle body 2. it can. Therefore, the vehicle body 2 can be stabilized.

  For example, an inclined surface 61 is formed on the front end side of the auxiliary stand 6 so that the rear side protrudes downward with the auxiliary stand 6 lowered. As a result, only the rear side of the inclined surface 61 of the auxiliary stand 6 is in contact with the road surface. Further, in a state where the auxiliary stand 6 is in contact with the road surface and positioned by the mechanical stopper 22, the auxiliary stand 6 is slightly inclined counterclockwise (mechanical stopper side) with respect to the vertical line. Therefore, the ground contact surface P <b> 1 between the auxiliary stand 6 and the road surface is offset rearward with respect to the central axis 21. In this way, simply by forming the inclined surface 61 at the tip of the auxiliary stand 6, the grounding surface P <b> 1 between the auxiliary stand 6 and the road surface can be easily offset with respect to the central axis 21, and the vehicle body 2 can be stabilized. Can be planned.

  In addition, although the inclined surface 61 is formed in the front end side of the auxiliary stand 6 so that the back side protrudes downward, it is not limited thereto, and for example, a convex member that protrudes downward only on the back side is provided. May be. Further, the position at which the auxiliary stand 6 contacts the road surface and is positioned may be adjusted by adjusting the position of the mechanical stopper 22 in the front-rear direction.

  The offset amount between the central axis 21 and the ground contact surface P1 is set by adjusting the shape of the inclined surface 61, the position of the mechanical stopper 22 and the like so that the moment force M1 ≧ the moment force M2, for example. Here, the moment force M1 is determined by the weight of the passenger, and the moment force M2 is a value determined by the driving force of each vehicle drive unit 4L, 4R. Therefore, the behavior of the vehicle body 2 can be easily predicted, and the offset amount can be easily set.

  FIG. 6 is a flowchart showing a method for assisting in getting off the inverted mobile body according to the present embodiment. When the passenger gets on the step portions 27L and 27R of the vehicle main body 2 (step S101), the control device 8 controls the peristaltic mechanism 7 to swing the auxiliary stand 6 upward to separate it from the road surface (FIG. 4). (Step S102).

  Based on the detection signal from the attitude sensor unit 11 and the detection signal from the angle detection sensor 9, the control device 8 controls the wheel drive units 4L and 4R to execute the inversion control (step S103). For example, the occupant performs traveling operations such as forward / backward movement and left / right turn of the inverted moving body 1 by moving the center of gravity, and performs an equilibrium sense training.

  The control device 8 starts getting-off assistance control in response to the getting-off assistance start trigger signal from the getting-off switch 51 (step S104). When starting the getting-off assist control, the control device 8 controls the peristaltic mechanism 7 to lower the auxiliary stand 6 (FIG. 3) (step S105).

  The control device 8 controls the wheel drive units 4L and 4R so as to incline the vehicle body 2 forward by a predetermined angle (step S106). Note that the predetermined angle for assisting getting off the vehicle is set in advance in the storage device 82 or the like by the passenger.

  Before the inclination angle of the vehicle body 2 reaches a predetermined angle, the auxiliary stand 6 contacts the road surface (step S107). At this time, the moment force M1 and the moment force M2 around the center axis 21 described above are generated (FIG. 5). Here, as described above, the relationship of moment force M1 ≧ moment force M2 is established. Thereby, the resultant force of the moment forces M1 and M2 acts in the direction in which the auxiliary stand 6 is pressed against the mechanical stop 22, so that the posture of the vehicle body 2 is stably maintained at a fixed position.

  The control device 8 controls the wheel drive units 4L and 4R to stop the wheels 3L and 3R after the start of the getting-off assistance control, and ends the getting-off assistance control (step S108).

  On the other hand, before the auxiliary stand 6 contacts the road surface, the inclination angle of the vehicle body 2 becomes a predetermined angle (step S109). In this case, when the inclination angle of the vehicle body 2 reaches a predetermined angle, the control device 8 controls the wheel drive units 4L and 4R to stop the wheels 3L and 3R, and ends the getting-off assist control (step S110). .

  As described above, in the inverted moving body according to the present embodiment, the ground contact surface P1 between the auxiliary stand 6 and the road surface is offset rearward with respect to the central axis 21 on which the auxiliary stand 6 swings. Thereby, the moment force M1 can be generated by the reaction force received from the road surface when the auxiliary stand 6 contacts the road surface. By this moment force M1, the moment force M2 that is the drag force of the vehicle body 2 can be canceled. Therefore, the vehicle body 2 can be stabilized when getting off.

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.
In the embodiment described above, the inverted moving body 1 is configured as an inverted motorcycle, but is not limited thereto. For example, the inverted moving body 1 may be configured as an inverted vehicle having one wheel or three or more wheels.
In the above embodiment, the auxiliary stand 6 is provided in front of the vehicle body 2 so as to be slidable in the vertical direction, but is not limited thereto. The auxiliary stand 6 may be provided at the rear of the vehicle body 2 so as to be swingable in the vertical direction. Further, the auxiliary stand 6 may be provided so as to be swingable in the vertical direction one by one at the front and rear of the vehicle body 2.

DESCRIPTION OF SYMBOLS 1 Inverted type mobile body, 2 Vehicle main body, 3L, 3R wheel, 4L, 4R Wheel drive unit, 5 Operation handle, 6 Auxiliary stand, 7 Peristaltic mechanism, 8 Control device, 9 Angle detection sensor, 10L, 10R Drive circuit, 11 Attitude sensor unit, 21 central axis, 61 inclined surface

Claims (5)

An inverted moving body that travels while maintaining an inverted state,
A vehicle body on which the passenger is boarded;
Drive means for driving at least one wheel provided in the vehicle body;
An auxiliary stand provided on the vehicle body so as to be movable in the vertical direction;
Control means for controlling the swinging of the auxiliary stand to lower the auxiliary stand and controlling the driving means to tilt the vehicle body in the front-rear direction so that the auxiliary stand contacts the road surface;
The inverted moving body characterized in that a grounding surface between the auxiliary stand and the road surface is offset rearward with respect to a central axis on which the auxiliary stand swings. The inverted mobile body according to claim 1,
The grounding surface between the auxiliary stand and the road surface is in relation to the central axis of the auxiliary stand so that a moment force about the central axis is generated by a reaction force generated when the auxiliary stand contacts the road surface. An inverted moving body characterized by being offset to the rear side. The inverted mobile body according to claim 2,
The moment force about the central axis due to the reaction force generated when the auxiliary stand touches the road surface is greater than the moment force about the central axis due to the friction force generated between the auxiliary stand and the road surface. Inverted type moving body characterized by being. The inverted mobile body according to any one of claims 1 to 3,
An inverted moving body characterized in that an inclined surface is formed on a tip side of the auxiliary stand so that a rear side protrudes in a state where the auxiliary stand is lowered. The inverted mobile body according to any one of claims 1 to 4,
An inverted movable body further comprising a stopper for positioning the auxiliary stand by contacting the auxiliary stand forward while the auxiliary stand is grounded.

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