JP2021054322A - Movable body - Google Patents

Abstract

To provide a movable body that is advantageous for detecting an obstacle that exists ahead of a front wheel.SOLUTION: A movable body moved by a driver riding thereon includes: a front wheel steered by a handlebar operated by the driver; and a sensor for detecting an obstacle that exists ahead of the front wheel. The sensor is installed so as to be capable of being arranged forward of the front wheel.SELECTED DRAWING: Figure 1A

Description

The present invention relates to a mobile body.

In recent years, in a moving body (vehicle) such as a two-wheeled vehicle, a technique for acquiring information on the outside world (surrounding environment) of the moving body to support driving has been proposed (see Patent Document 1). Patent Document 1 discloses a technique of detecting another vehicle in front of a vehicle by a sensor arranged in front of the vehicle. In such a technique, a sensor is arranged in the vicinity of a front light or the like, and always detects (monitors) another vehicle existing in the traveling direction of the vehicle regardless of steering of the steering wheel.

JP-A-2018-106508

However, the technique disclosed in Patent Document 1 is excellent in detecting other vehicles existing to some extent ahead, for example, 5 m to 10 m ahead, but overlooks obstacles existing in front of the front wheels (tires). There is a possibility that it will end up. Such a tendency becomes remarkable especially when traveling at a low speed of 10 km / h or less.

Therefore, an object of the present invention is to provide a moving body that is advantageous for detecting an obstacle existing in front of the front wheels.

According to the present invention, it is a moving body that moves with a driver, and has a front wheel that is steered by an operation of a steering wheel by the driver, and a sensor that detects an obstacle. A moving body is provided that is arrangably provided in front of the front wheels.

Further objections or other aspects of the invention will be manifested in embodiments described below with reference to the accompanying drawings.

According to the present invention, for example, it is possible to provide a moving body which is advantageous for detecting an obstacle existing in front of the front wheel.

It is a schematic side view which shows the motorcycle as one aspect of this invention. It is a schematic side view which shows the motorcycle as one aspect of this invention. It is an enlarged view of the handle part of the motorcycle shown in FIG. It is a figure for demonstrating an example of the structure which makes it possible to arrange a sensor in front of a front wheel. It is a figure for demonstrating an example of the structure which makes it possible to arrange a sensor in front of a front wheel. It is a figure for demonstrating an example of the structure which makes it possible to arrange a sensor in front of a front wheel. It is a block diagram which shows the control relationship between a control part and each part of a motorcycle in an obstacle detection process. It is a flowchart for demonstrating obstacle detection processing. It is a flowchart for demonstrating obstacle detection processing.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. The following embodiments do not limit the invention according to the claims, and not all combinations of features described in the embodiments are essential to the invention. Two or more of the plurality of features described in the embodiments may be arbitrarily combined. Further, the same or similar configuration will be given the same reference number, and duplicate description will be omitted.

1A and 1B are schematic side views showing a motorcycle 1 as one aspect of the present invention. FIG. 2 is an enlarged view of the steering wheel portion of the motorcycle 1 and shows the steering wheel portion seen from the driver of the motorcycle 1. The motorcycle 1 is a moving body that moves with a driver, specifically, a saddle-mounted vehicle. Further, the motorcycle 1 may be a turnip-type motorcycle as shown in FIG. 1A, or a scooter-type motorcycle as shown in FIG. 1B. In each of the drawings including FIGS. 1A, 1B and 2, the arrow X indicates the front-rear direction of the motorcycle 1, the arrow Y indicates the vehicle width direction (width direction) of the motorcycle 1, and the arrow Z indicates the vehicle width direction (width direction). , Indicates the vertical direction of the motorcycle 1. Further, in FIG. 1B, reference numbers are given only to characteristic components (structures) related to the present invention.

As shown in FIG. 1A, the motorcycle 1 includes a vehicle body frame 11 which is a skeleton of the vehicle, a front fork 12 supported by the vehicle body frame 11, an engine 13, a seat 14, a swing arm 15, and a sensor 16. It has a meter unit 20, a speaker 30, a grip 40, a torque applying unit 50, a control unit 60, and a measuring unit 70.

The body frame 11 includes, for example, a head pipe that steerably supports the front fork 12, a main frame that extends diagonally downward from the lower part of the head pipe, and a center frame that extends downward from the rear end of the main frame. A seat rail that extends from the rear end of the main frame to the rear, a down frame that extends diagonally backward from the front end of the main frame, and a seat rail that extends from the top of the head pipe to the main frame. Including with upper frame.

The front fork 12 supports a driver-operated handle 121 at the upper end. Further, the front fork 12 supports the front wheel 123 steered by the operation of the handle 121 at the lower end portion via the axle 122. The front wheel 123 is covered with a front fender 124 from above.

As shown in FIG. 2, the handle portion including the handle 121 is provided with a meter unit 20, a speaker 30, a grip 40, and a torque applying portion 50. The meter unit 20 is provided in the center of the front of the motorcycle 1 and can display a speedometer 202, an indicator 204, a fuel gauge, a clock, and the like. The speedometer 202 displays the traveling speed of the motorcycle 1. The indicator 204 notifies the driver of various information about the motorcycle 1. The speaker 30 outputs sound.

Grips 40 are provided on the left and right sides of the handle 121. The grip 40 on the right side is rotatably supported, for example, with respect to the handle 121. When the driver rotates the grip 40 on the right side, the throttle operation of the engine 13 which is the power source is performed. In this way, the driver can control the driving force for driving the motorcycle 1 (moving the moving body) via the grip 40 on the right side.

The torque applying portion 50 is provided close to the vehicle center side of the grip 40 on the right side. The torque applying unit 50 generates torque and applies the torque to the grip 40 on the right side. In the present embodiment, the torque applying portion 50 intermittently applies a torque for rotating the grip 40 in the returning direction to the grip 40 on the right side. In other words, the torque applying unit 50 intermittently applies torque to the grip 40 on the right side in the rotation direction that reduces the driving force for traveling the motorcycle 1.

Returning to FIG. 1A, the engine 13 includes, for example, a crankcase and a cylinder portion provided in the crankcase. A transmission may be integrally provided at the rear of the crankcase. The seat 14 is provided on the upper part of the seat rail. The swing arm 15 is provided on the pivot shaft 153 so as to be able to swing up and down, and supports the rear wheel 152 at the rear end portion via the axle 151. The rear wheel 152 is covered with the rear fender 154 from above.

The sensor 16 detects an obstacle. In the present embodiment, the sensor 16 is provided so as to be dispositionable in front of the front wheel 123, including the front and side surfaces. As a result, when detecting an obstacle existing in front of the front wheel 123, the sensor 16 can be arranged in front of the front wheel 123, and exists in front of the front wheel 123 while suppressing the influence of noise and the like of the front wheel 123. Obstacles can be detected with high accuracy. Further, when it is not necessary to detect an obstacle existing in front of the front wheel 123, the sensor 16 can be retracted from the front of the front wheel 123.

With reference to FIGS. 3A and 3B, an example of a configuration in which the sensor 16 can be arranged in front of the front wheel 123 will be described. 3 (a) and 3 (b) are enlarged views of the vicinity of the front wheel 123. The sensor 16 is supported by a support 161 that can rotate along the circumferential direction of the front wheel 123. The support 161 includes a receptor 162 that receives pressure from the front of the motorcycle 1, and is configured to be rotatable around a rotation shaft 163. In the present embodiment, when the receptor 162 receives a pressure equal to or higher than a predetermined value from the front of the motorcycle 1 in the state shown in FIG. 3 (a), the support 161 rotates on the axis of rotation as shown in FIG. 3 (b). By rotating around 163, the sensor 16 is arranged in front of the front wheel 123. In emerging countries, roads may suddenly submerge due to the effects of soil and squalls, which are prone to land subsidence. Assuming such a case, here, as shown in FIG. 3B, the pressure from the front of the motorcycle 1 is used as the pressure of water. Therefore, when the motorcycle 1 travels on a water surface where the receptor 162 is submerged, the sensor 16 is automatically arranged in front of the front wheel 123. When the sensor 16 is arranged in front of the front wheel 123, a mechanism for fixing (locking) the support 161 may be provided.

The rotating shaft 163 of the support 161 may be coaxial with the axle 122 of the front wheel 123. Specifically, the rotating shaft 163 may be the axle 122, and the support 161 may be configured to be rotatable around the axle 122 of the front wheel 123. In this way, by using the axle 122 of the front wheel 123 as the rotating shaft 163 of the support 161, it is possible to simplify the configuration (structure) in which the sensor 16 can be arranged in front of the front wheel 123.

Further, it is preferable that the sensor 16 is arranged at the same height as the axle 122 of the front wheel 123 or at a position lower than that in the state where the sensor 16 is arranged in front of the front wheel 123. As a result, since the sensor 16 is arranged at a position close to the road (road surface), it is possible to easily detect an obstacle existing in front of the front wheel 123.

Further, the sensors 16 may not be provided on both sides of the vehicle body frame 11 (both sides of the front wheels 123) in the vehicle width direction of the motorcycle 1. In other words, the sensor 16 may be arranged on one side of the front wheel 123 (front fender 124), that is, on the side of one of the two sides of the front wheel 123 in the vehicle width direction of the motorcycle 1. .. As a result, the number of sensors 16 provided in the motorcycle 1 can be reduced to one, and a configuration for detecting an obstacle existing in front of the front wheel 123 can be realized at low cost.

Further, the sensor 16 may define (form) a detection range that points forward and downward of the front wheel 123. As a result, even if the obstacle existing in front of the front wheel 123 is an obstacle at a low height, it can be easily detected. Further, since the other vehicle or the like existing in front of the motorcycle 1 (upper front) is out of the detection range, it is possible to prevent the other vehicle or the like from being erroneously detected as an obstacle.

Further, the sensor 16 can be any sensor known in the art as long as it can detect an obstacle, but it is preferably composed of an ultrasonic sensor. An ultrasonic sensor is a sensor that detects the presence (presence or absence) of an object by transmitting ultrasonic waves from a transmitter to an object (obstacle) and receiving reflected waves from the object with a receiver. .. By configuring the sensor 16 with an ultrasonic sensor, when the sensor 16 is arranged in front of the front wheel 123, the detection range can be defined only in the vicinity of the front wheel 123, so that an obstacle existing in front of the front wheel 123 can be defined. Objects can be detected reliably. Further, since the other vehicle or the like existing in front of the motorcycle 1 is out of the detection range, it is possible to prevent the other vehicle or the like from being erroneously detected as an obstacle.

Further, the configuration in which the sensor 16 can be arranged in front of the front wheel 123 is not limited to the configuration shown in FIGS. 3A and 3B. For example, as shown in FIG. 4A, the sensor 16 is provided on the front fender 124, the front fender 124 is supported by the support body 161 and the front fender 124 can be rotated in conjunction with the rotation of the support body 161. The sensor 16 may be arranged in front of the front wheel 123. In this case, from the viewpoint of the strength of supporting the front fender 124, as shown in FIG. 4B, the two supports 161 are supported so as to support the front fender 124 from both sides in the vehicle width direction of the motorcycle 1. It is good to provide it. In the state shown in FIG. 5 (a), when the receptor 162 receives a pressure equal to or higher than a predetermined value from the front of the motorcycle 1, the support 161 rotates about the rotation shaft 163 as shown in FIG. 5 (b). By moving, the front fender 124 also rotates about the rotation shaft 163, and the sensor 16 is arranged in front of the front wheel 123. Here, the pressure from the front of the motorcycle 1 is the pressure of water, as described above. Therefore, when the motorcycle 1 travels on a water surface where the receptor 162 is submerged, the sensor 16 provided on the front fender 124 is automatically arranged in front of the front wheel 123.

The front fender 124 may be arranged between the sensor 16 and the front wheel 123 in the vehicle width direction of the motorcycle 1. When the sensor 16 arranged in front of the front wheel 123 detects an obstacle, the influence of noise and the like on the front wheel 123 can be suppressed by the front fender 124, and the obstacle existing in front of the front wheel 123 can be suppressed with high accuracy. Contributes to detection.

In the present embodiment, the configuration in which the sensor 16 is automatically arranged in front of the front wheel 123 has been described, but the present invention is not limited to this. For example, the sensor 16 may be arranged in front of the front wheel 123 by providing an actuator for rotating the support 161 and operating the actuator.

The measuring unit 70 is provided in the lower part of the motorcycle 1, for example, the portion of the vehicle body frame 11 closest to the road (road surface), and has a function of measuring the height of the water surface (liquid level). In the present embodiment, the measuring unit 70 measures the height of the water surface when the road (road surface) on which the motorcycle 1 is traveling is submerged. As the measuring unit 70, various principles and types of water surface (liquid level) sensors can be adopted, but it is preferable that the measuring unit 70 is composed of a water surface sensor that detects the water surface in a non-contact manner.

The control unit 60 is an ECU (electronic control unit) including a CPU, a memory, and the like, and controls each part of the motorcycle 1 in an integrated manner according to a predetermined program. A PLD (programmable logic device), an ASIC (integrated circuit for a specific application), or the like may be used for the control unit 60. The function of the control unit 60 can be realized by both hardware and software.

In the present embodiment, the control unit 60 is a process related to detection of an obstacle existing in front of the motorcycle 1 when the motorcycle 1 is traveling, specifically, in front of the front wheel 123 (hereinafter, "obstacle detection process"). ”) Is controlled. FIG. 6 is a block diagram showing a control relationship between the control unit 60 and each part of the motorcycle 1 in the obstacle detection process, specifically, the sensor 16, the meter unit 20, the speaker 30, the torque applying unit 50, and the measuring unit 70. Is.

In the present embodiment, the control unit 60 acquires the traveling speed of the motorcycle 1 from the meter unit 20 (speedometer 202) in the obstacle detection process, and the motorcycle 1 is at a predetermined speed or less, for example, 10 km / h or less. The sensor 16 functions (operates) to detect an obstacle existing in front of the front wheel 123 only when the vehicle is traveling. Further, the control unit 60 acquires the height of the water surface measured by the measurement unit 70 in the obstacle detection process, and only when the height of the water surface exceeds the reference value, the front and front wheels of the motorcycle 1 The sensor 16 may function to detect an obstacle in front of the 123. Further, the control unit 60 is in front of the motorcycle 1 only when the motorcycle 1 is traveling at a predetermined speed or lower and the motorcycle 1 is traveling on a water surface of a predetermined height in the obstacle detection process. The sensor 16 may function to detect an obstacle existing in front of the front wheel 123 or the front wheel 123. In this way, by operating the sensor 16 only when it is necessary to detect obstacles, energy (fuel) can be used efficiently and wasteful energy use can be suppressed, that is, energy saving can be realized. ..

Further, when the sensor 16 detects an obstacle in the obstacle detection process, the control unit 60 lights the indicator 204 of the meter unit 20 or outputs a warning sound from the speaker 30 to output the warning sound of the front wheel 123. Notify the driver that there is an obstacle ahead. As a result, even if the obstacle is visually overlooked by the driver, the motorcycle 1 can be driven so as to avoid the obstacle.

Further, the control unit 60 intermittently reduces the driving force for traveling the motorcycle 1 from the torque applying unit 50 to the grip 40 when the sensor 16 detects an obstacle in the obstacle detection process. Torque is applied to. As a result, the driver is notified that the traveling speed of the motorcycle 1 should be reduced, and support for avoiding or mitigating a collision with an obstacle that the driver has visually overlooked is provided. It can be carried out. Considering the running safety of the motorcycle 1, it is necessary to apply torque to the grip 40 without being too strong and not too weak, and it is very difficult to adjust such torque. .. However, in the present embodiment, since the torque is intermittently applied to the grip 40, it is not necessary to adjust the torque.

The obstacle detection process in the present embodiment will be specifically described with reference to FIG. 7. As described above, such processing is performed by the control unit 60 comprehensively controlling each unit of the motorcycle 1.

In S502, the control unit 60 determines whether or not the traveling speed of the motorcycle 1 acquired from the meter unit 20 is equal to or less than a predetermined speed. If the traveling speed of the motorcycle 1 is not less than or equal to the predetermined speed, the process shifts to return (returns to the start). On the other hand, when the traveling speed of the motorcycle 1 is equal to or less than a predetermined speed, the process shifts to S504.

In S504, the control unit 60 causes the sensor 16 to function so as to detect an obstacle existing in front of the front wheel 123. At this time, as described above, the sensor 16 is arranged in front of the front wheel 123. For example, when the receptor 162 receives the pressure of the traveling wind when the traveling speed of the motorcycle 1 is equal to or lower than a predetermined speed, the support 161 may be rotated, or the support may be operated by operating the actuator. 161 may be rotated. As described above, by operating the sensor 16 only when the motorcycle 1 is traveling at a predetermined speed or lower, energy saving can be realized as described above.

In S506, the control unit 60 determines whether or not the sensor 16 has detected an obstacle existing in front of the front wheel 123. If the sensor 16 does not detect an obstacle, the process proceeds to S502. On the other hand, when the sensor 16 detects an obstacle, the process proceeds to S508.

In S508, the control unit 60 lights the indicator 204 of the meter unit 20. As a result, the driver is notified that there is an obstacle in front of the front wheel 123. Therefore, the driver can drive the motorcycle 1 so as to avoid an obstacle existing in front of the front wheel 123.

In S510, the control unit 60 determines whether or not a predetermined time has elapsed since the indicator 204 was turned on. If a predetermined time has not elapsed since the indicator 204 was turned on, S510 is repeated. On the other hand, when a predetermined time has elapsed since the indicator 204 was turned on, the process proceeds to S512.

In S512, the control unit 60 outputs a warning sound from the speaker 30. As a result, the driver is notified that there is an obstacle in front of the front wheel 123. The warning sound is output from the speaker 30 when the driver is not driving the motorcycle 1 so as to avoid an obstacle existing in front of the front wheels 123 after the indicator 204 is turned on. In this case, it is highly probable that the driver is unaware of the lighting of the indicator 204 (that is, the presence of an obstacle). Therefore, by outputting a warning sound from the speaker 30, the driver is made aware of the presence of the obstacle. Good. As described above, in the present embodiment, as the motorcycle 1 approaches the obstacle, the presence of the obstacle in front of the front wheel 123 is gradually notified, but the indicator 204 is lit and the warning sound is output. May be performed at the same time. Whether or not the motorcycle 1 is driven so as to avoid the obstacle can be determined from, for example, whether the sensor 16 continues to detect the obstacle or whether the front wheel 123 is steered.

In S514, the control unit 60 determines whether or not a predetermined time has elapsed since the warning sound was output. If a predetermined time has not elapsed since the warning sound was output, S514 is repeated. On the other hand, when a predetermined time has elapsed after the warning sound is output, the process proceeds to S516.

In S516, the control unit 60 intermittently applies torque to the grip 40 from the torque applying unit 50 in the rotation direction that reduces the driving force for traveling the motorcycle 1. The torque is intermittently applied to the grip 40 when the driver is not driving the motorcycle 1 so as to avoid an obstacle existing in front of the front wheel 123 after outputting the warning sound. .. As a result, the driver is notified that the traveling speed of the motorcycle 1 should be reduced, and the driver does not notice the obstacle even when the indicator 204 is lit (S508) or the warning sound is output (S512). Provide support for collision avoidance or collision mitigation.

As described above, according to the present embodiment, when the motorcycle 1 is traveling at a low speed, the sensor 16 detects an obstacle that the driver is likely to overlook, specifically, an obstacle existing in front of the front wheel 123. It is possible to detect an obstacle existing in front of the front wheel 123, which is advantageous.

In emerging countries, as mentioned above, roads may suddenly be submerged due to the effects of soil and squall, which are prone to land subsidence. In such a case, avoiding the submerged road and heading for the destination is likely to be a detour, and the submerged road may be forced to proceed. However, it is difficult to visually recognize the submerged road, that is, the obstacle existing under the water surface, but by applying the present invention, the obstacle existing under the water surface (the obstacle existing in front of the front wheel 123). ) Can be detected. In such a case, the motorcycle 1 measures the height of the water surface on which the motorcycle 1 travels by the measuring unit 70.

With reference to FIG. 8, the obstacle detection process for detecting an obstacle existing under the water surface will be specifically described. Such processing is performed by the control unit 60 comprehensively controlling each unit of the motorcycle 1.

In S602, the control unit 60 determines whether or not the traveling speed of the motorcycle 1 acquired from the meter unit 20 is equal to or less than a predetermined speed. If the traveling speed of the motorcycle 1 is not less than or equal to the predetermined speed, the process shifts to return (returns to the start). On the other hand, when the traveling speed of the motorcycle 1 is equal to or less than a predetermined speed, the process shifts to S603.

In S603, the control unit 60 acquires the measurement result from the measurement unit 70 that measures the height of the water surface on which the motorcycle 1 travels, and determines whether or not the height of the water surface on which the motorcycle 1 travels exceeds the reference value. judge. If the height of the water surface on which the motorcycle 1 travels does not exceed the reference value, the process shifts to return. On the other hand, when the height of the water surface on which the motorcycle 1 travels exceeds the reference value, the process shifts to S604. The reference value is set to, for example, a value at which about 80% to 90% of the front wheels 123 are submerged.

In S604, the control unit 60 causes the sensor 16 to function so as to detect an obstacle existing in front of the front wheel 123. At this time, as described above, the sensor 16 is arranged in front of the front wheel 123. For example, when the traveling speed of the motorcycle 1 is equal to or lower than a predetermined speed and the receptor 162 receives the pressure of water when the height of the water surface on which the motorcycle 1 travels exceeds the reference value, the support 161 May be rotated, or the support 161 may be rotated by operating the actuator. This makes it possible for the sensor 16 to detect an obstacle existing below the surface of the water. Further, as described above, energy saving is realized by operating the sensor 16 only when the motorcycle 1 is traveling at a predetermined speed or lower and the motorcycle 1 is traveling on the water surface at a predetermined height. can do.

Since S606 to S616 are the same as S506 to S616, detailed description here will be omitted.

As described above, according to the present embodiment, it is possible to detect an obstacle existing below the water surface (an obstacle existing in front of the front wheel 123).

In addition, in FIGS. 7 and 8, only when the motorcycle 1 is traveling at a predetermined speed or less, or when the motorcycle 1 is traveling at a predetermined speed or less and the motorcycle 1 is traveling at a predetermined height. The case where the sensor 16 functions only when the motorcycle is traveling on the water surface has been described. However, as described above, even if the sensor 16 is operated only when the motorcycle 1 is traveling on the water surface at a predetermined height. Good.

<Summary of Embodiment>
1. 1. The mobile body of the above-described embodiment is
A moving body (for example, 1) that carries a driver and moves.
The front wheels (eg, 123) that are steered by the driver's operation of the steering wheel (eg, 121),
It has a sensor (for example, 16) that detects obstacles, and has
The sensor is provided so as to be dispositionable in front of the front wheel.

According to this embodiment, it is possible to detect an obstacle existing in front of the front wheels with high accuracy while suppressing the influence of noise of the front wheels and the like.

2. In the mobile body of the above embodiment (for example, 1),
It also has a support (eg, 161) that supports the sensor (eg, 16) and is rotatable along the circumferential direction of the front wheel (eg, 123).
The support comprises a receptor (eg, 163) that receives pressure from the front of the moving body.
When the receptor receives a pressure equal to or higher than a predetermined value, the support rotates to dispose the sensor in front of the front wheel.

According to this embodiment, the sensor can be automatically placed in front of the front wheels.

3. 3. In the mobile body of the above embodiment (for example, 1),
The support (for example, 161) is characterized in that it can rotate about the axle (for example, 122) of the front wheel (for example, 123).

According to this embodiment, the configuration (structure) that allows the sensor to be arranged in front of the front wheels can be simplified.

4. In the mobile body of the above embodiment (for example, 1),
The sensor (for example, 16) is located in front of the front wheel (for example, 123) at the same height as the front wheel axle (for example, 122) or at the same height as the front wheel axle. It is characterized by being placed at a lower position.

According to this embodiment, it is possible to easily detect an obstacle existing in front of the front wheels.

5. In the mobile body of the above embodiment (for example, 1),
Further having a fender (eg 124) covering the front wheel (eg 123)
The fender is arranged between the sensor (for example, 16) and the front wheel in the width direction of the moving body.

According to this embodiment, obstacles existing in front of the front wheels can be detected with high accuracy.

6. In the mobile body of the above embodiment (for example, 1),
The support (eg, 161) supports the sensor (eg, 16) via a fender (eg, 124) that covers the front wheel (eg, 123).
The fender is characterized in that it is configured to be rotatable in conjunction with the rotation of the support.

According to this embodiment, the sensor can be automatically placed in front of the front wheels.

7. In the mobile body of the above embodiment (for example, 1),
The axial direction of the sensor (for example, 16) is characterized in that the sensor is oriented forward and downward of the front wheel in a state where the sensor is arranged in front of the front wheel (for example, 123).

According to this embodiment, even if the obstacle existing in front of the front wheel is an obstacle at a low height, it can be easily detected, and other moving objects existing in front of the moving body can be detected as obstacles. It is possible to prevent false detection as a result.

8. In the mobile body of the above embodiment (for example, 1),
The sensor (for example, 16) is arranged on the side of one of the two sides of the front wheel in the width direction of the moving body.

According to this embodiment, it is possible to realize a configuration for detecting an obstacle existing in front of the front wheels at low cost.

9. In the mobile body of the above embodiment (for example, 1),
The sensor (eg, 16) is characterized by including an ultrasonic sensor.

According to this embodiment, the detection range can be defined only in the vicinity of the front wheels, and false detection of obstacles can be suppressed.

10. In the mobile body of the above embodiment (for example, 1),
The sensor (for example, 16) is characterized in that the obstacle is detected only when the moving body is traveling at a predetermined speed or lower.

According to this embodiment, energy saving can be realized by operating the sensor only when it is necessary to detect an obstacle.

11. In the mobile body of the above embodiment (for example, 1),
The sensor (for example, 16) is characterized in that the obstacle is detected only when the moving body is traveling on a water surface of a predetermined height.

According to this embodiment, energy saving can be realized by operating the sensor only when it is necessary to detect an obstacle.

12. In the mobile body of the above embodiment (for example, 1),
The sensor (for example, 16) is characterized in that the obstacle is detected only when the moving body travels at a predetermined speed or lower and the moving body travels on a water surface of a predetermined height. And.

According to this embodiment, energy saving can be realized by operating the sensor only when it is necessary to detect an obstacle.

13. In the mobile body of the above embodiment (for example, 1),
The moving body is characterized by including a saddle-mounted vehicle.

The invention is not limited to the above-described embodiment, and various modifications and changes can be made within the scope of the gist of the invention.

1: Motorcycle 16: Sensor 121: Handle 123: Front wheel

Claims (13)

It is a moving body that carries a driver and moves.
The front wheels, which are steered by the driver's operation of the steering wheel,
It has a sensor that detects obstacles,
The sensor is a moving body characterized in that it is provided so as to be dispositionable in front of the front wheel. It further has a support that supports the sensor and is rotatable along the circumferential direction of the front wheel.
The support comprises a receptor that receives pressure from the front of the moving body.
The moving body according to claim 1, wherein when the receptor receives a pressure equal to or higher than a predetermined value, the support rotates to arrange the sensor in front of the front wheel. The moving body according to claim 2, wherein the support is rotatable about the axle of the front wheel. A claim, wherein the sensor is arranged at a position equal to the axle of the front wheel or a position lower than the same height as the axle of the front wheel in a state of being arranged in front of the front wheel. The moving body according to any one of 1 to 3. Further having a fender covering the front wheels
The moving body according to any one of claims 1 to 4, wherein the fender is arranged between the sensor and the front wheel in the width direction of the moving body. The support supports the sensor via a fender that covers the front wheels.
The moving body according to any one of claims 2 to 4, wherein the fender is configured to be rotatable in conjunction with the rotation of the support. The aspect of any one of claims 1 to 6, wherein the axial direction of the sensor is directed downward in the front of the front wheel in a state where the sensor is arranged in front of the front wheel. Mobile body. The sensor according to any one of claims 1 to 5 and 7, wherein the sensor is arranged on the side of one of the two side surfaces of the front wheel in the width direction of the moving body. The described mobile body. The moving body according to any one of claims 1 to 8, wherein the sensor includes an ultrasonic sensor. The moving body according to any one of claims 1 to 8, wherein the sensor detects an obstacle only when the moving body is traveling at a predetermined speed or lower. The moving body according to any one of claims 1 to 8, wherein the sensor detects an obstacle only when the moving body is traveling on a water surface at a predetermined height. Claim 1 is characterized in that the sensor detects an obstacle only when the moving body travels at a predetermined speed or lower and the moving body travels on a water surface of a predetermined height. The moving body according to any one of 8 to 8. The moving body according to any one of claims 1 to 12, wherein the moving body includes a saddle-mounted vehicle.

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