JP4230483B2 - Motorcycle - Google Patents

Description

  The present invention relates to a motorcycle driven by a motor or the like.

In motorcycles, in order to drive safely, the body tilt, vehicle speed and side slip are detected by sensors, and based on the detection results, it is determined whether there is a risk of falling, and the determination results are sent to the driver. Some are configured to warn (for example, Patent Document 1).
JP-A-2005-280387

  However, in the case of the above-described conventional example, when a warning is given to inform the driver of the danger of falling, it is almost on the verge of falling, and it is often difficult to restore the original state. That is, such a fall warning function hardly contributes to the prevention of falls, and the practicality is poor at present.

  The present invention was created under the above-described background, and an object of the present invention is to provide an improved motorcycle that is difficult to fall.

The motorcycle according to the present invention is arranged on the front side of the vehicle body, and the front wheel portion on which the left tire and the right tire are coaxially supported, and the vehicle on the rear side of the vehicle body, and the left tire and the right tire are coaxial. A rear wheel part that is pivotally supported, a front drive part that independently drives the left and right tires of the front wheel part, and a rear drive part that independently drives the left and right tires of the rear wheel part. And a sensor unit that detects the operation angle of the steering wheel and the inclination angle of the vehicle body, and a unit that operates the front drive unit and the rear drive unit in accordance with the accelerator, and falls while traveling based on at least the detection result of the sensor unit A control unit having a function of adjusting each rotation speed of the left tire of the front wheel part, the right tire, the left tire of the rear wheel part, and the right tire. In particular, the control unit detects the left tire of the front wheel unit, the right tire, and the left of the rear wheel unit when the sensor unit detects that the vehicle body is not tilted and the handle is directed leftward or rightward. While adjusting the rotational speeds FL, FR, BL, BR of the tire and the right tire so as to have the magnitude relationship shown in the upper left side of Table 1 and the lower side of the same table, there is no change in the direction of the steering wheel and the vehicle body is left When the sensor unit detects that the vehicle is tilted in the right or right direction, the rotational speeds FL, FR, BL, BR of the left tire of the front wheel unit, the right tire, the left tire of the rear wheel unit, and the right tire are displayed. 1 It is the structure which each adjusts so that it may become the magnitude relationship shown in the upper right stage and the same table lower side lower stage.

Also, the left and right tires of the front and rear wheel portions should be bilaterally symmetric and have a substantially ¼ arc shape from the outer peripheral inner edge to the outer edge. Is desirable.

In the motorcycle according to claim 1 of the present invention, the left tire of the front wheel portion , the right tire, and the left tire of the rear wheel portion so as not to fall during traveling according to the operation angle of the steering wheel or the inclination angle of the vehicle body. Since the rotation speed of the right tire is adjusted, even a beginner is unlikely to fall down, and safe driving can be realized.

In the motorcycle according to claim 2 of the present invention, the contact area with the ground when the vehicle body is tilted can be increased as compared with the case where a general tire is used as a double tire. It becomes even more difficult for the vehicle to fall, and safer driving can be realized.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a side view of the motorcycle, FIG. 2 is a schematic front view of the front wheel portion of the motorcycle, FIG. 3 is a configuration diagram of the motorcycle, and FIG. 4 is a vehicle that runs without tilting. FIG. 5 is a schematic front view showing a state where the motorcycle is running and a state where the vehicle is tilted, and FIG. 5 is a diagram illustrating rotation of each tire adjusted according to a steering wheel operation angle / tilt angle when the motorcycle is turning / tilting. It is a figure which shows the pattern of the magnitude relationship of speed.

The motorcycle 1 shown here is a scooter driven by a motor. As shown in FIGS. 1 to 3, a vehicle body 10 to which a handle 11, an accelerator 12, a front fork 13, a frame 14 and the like are attached, and a left tire 21L, the right tire 21R is coaxially supported on the vehicle body 10 by the front wheel portion 20, the left tire 31L, the right tire 31R is coaxially supported by the vehicle body 10 and the rear wheel portion 30, and the front wheel portion. A front drive unit 40 that independently drives the left tire 21L and the right tire 21R , a rear drive unit 50 that independently drives the left / right tires 31L and 31R of the rear wheel unit 30, and a handle 11 A sensor unit 60 that detects an operation angle and an inclination angle of the vehicle body 10 and a control unit 70 that operates the front drive unit 40 and the rear drive unit 50 in accordance with the accelerator 12 are provided.

In particular, for the control unit 70, sensor unit 60 of the detection result front wheel 20 so as not to fall during traveling on the basis of the rear wheel portion 30 of the left tire 21L, right tire 21R and left rear wheel 30 It has a function of adjusting the rotational speeds of the tire 31L and the right tire 31R .

The front wheel unit 20, 21L left tire as shown in FIG. 2, has a right tires 21R, left tire 21L, wheel portion 22L of the right tire 21R, 22R of the front drive unit 40 motor 41L, directly to the shaft of the 41R It is connected . The left tire 21L and the right tire 21R are left-right symmetric as shown in the figure, and have a substantially ¼ arc shape from the outer peripheral inner end edge to the outer end edge.

  It is assumed that the rotational speed of the left tire 21L (motor 41L) is represented as FL, while the rotational speed of the right tire 21R (motor 41R) is represented as FR.

The rear wheel portion 30 has the same configuration as the front wheel portion 20. That is, the left tires 31L as shown in FIG. 2, has a right tires 31R, left tire 31L, right tire 31R of the wheel unit 32L, the motor 32R is front drive unit 50 51L, is coupled directly to the shaft of the 51R . The left tire 31L and the right tire 31R are bilaterally symmetric and have a substantially arc shape from the outer peripheral inner end edge to the outer end edge.

  It is assumed that the rotational speed of the left tire 31L (motor 51L) is represented as BL, while the rotational speed of the right tire 31R (motor 51R) is represented as BR.

  The front drive unit 40 is a motor 41L, 41R such as an induction motor attached to the front end of the front fork 13 of the vehicle body 10, and the shafts of the motors 41L, 41R separately from the left tire 21L and the right tire 21R. The rotation detectors 42L and 42R such as connected encoders are provided.

  The rear drive unit 50 has the same configuration as the front drive unit 40. That is, motors 51L and 51R such as induction motors attached to the rear portion of the frame 14 of the vehicle body 10 and the encoders connected to the shafts of the motors 51L and 51R separately from the left tire 31L and the right tire 31R. The rotation detectors 52L and 52R are provided.

  The sensor unit 60 is a potentiometer that detects an operation angle of the handle 11, an acceleration sensor that detects an inclination angle of the vehicle body 10, and the like, and is attached to the vehicle body 10. Various detection signals of the sensor unit 60 are guided to the control unit 70 together with a lever operation signal of the accelerator 12 attached to the right end of the handle 11 and detection signals of the rotation detectors 42L, 42R, 52L, and 52R.

  The control unit 70 is a control circuit such as a microcomputer that controls the operation of the motors 41L to 51R according to the lever operation of the accelerator 12, and the accelerator 12, the rotation detectors 42L to 52R, the sensor unit 60, and the like are connected to the input ports. On the other hand, power supply units 90a to 90d, which are PWM inverter power supplies for generating voltages to be supplied to the motors 41L to 51R, are connected to the output ports. The control program is recorded in advance in the memory unit 71 including data of a speed pattern shown in FIG.

  The power supply unit 90a generates a signal for turning on and off the switching element group 92a based on a control signal output from the control unit 70 and a switching element group 92a that converts a direct current derived from the rechargeable battery 80 into an alternating current. And a drive circuit 91a that generates a power supply voltage for driving the motor 41L. The power supply units 90b to 90d have the same configuration and generate a power supply voltage for driving the motors 41R to 51R.

  Note that the vehicle body 10 includes the control unit 70, the rechargeable battery 80, the power supply units 90a to 90d, and the like.

  Next, the control contents of the speeds of the motors 41L to 51R performed in the control unit 70 will be described with reference to FIGS.

  First, when it is recognized that the handle 11 is not directed in either the left or right direction through the sensor unit 60 and the vehicle body 10 is not tilted, the rotational speeds of the motors 41L to 51R are all made the same. In this case, the motors 41 </ b> L to 51 </ b> R are controlled so as to have a rotational speed corresponding to the lever operation of the accelerator 12.

However, although the vehicle body 10 is not tilted as shown in FIG. 4 (a), when the handle 11 is recognized to have been directed to the right direction, the respective rotational speed of the motor 41L~51R 5 in the upper left column Adjusted to show the magnitude relationship. To the contrary, the handle 11 when it is recognized to have been directed to the left is adjusted to be magnitude relationship indicating each rotation speed of the motor 41L~51R 5 in the lower left column. The specific speed difference is set to a value related to the rotational speed of the motors 41L to 51R and the operation angle of the handle 11.

On the other hand, there is no change in the orientation of the handle 11, when the vehicle body 10 as shown in FIG. 4 (b) is recognized that inclined rightward, upper right column in FIG. 5 the respective rotational speed of the motor 41L~51R It is adjusted so that the magnitude relationship shown in To the contrary, the vehicle body 10 when it recognizes that it has inclined leftward is adjusted each rotational speed of the motor 41L~51R such that the magnitude relationship shown in FIG. 5 the lower right column. The specific speed difference is set to a value related to the rotational speed of the motors 41L to 51R and the inclination angle of the vehicle body 10.

  In the case of the motorcycle 1 configured as described above, the left / right tires 21L and 21R and the rear wheels of the front wheel portion 40 are prevented from falling over during traveling according to the operation angle of the handle 11 and the inclination angle of the vehicle body 10. Since the rotational speeds of the left / right tires 31L and 31R of the portion 30 are adjusted, it is difficult for the beginner to fall down.

Moreover, in the front wheel portion 20 and the rear wheel portion 30, the left tire 21L, the right tire 21R, the left tire 31L, and the right tire 31R are shaped as shown in FIG. Compared to the case, the contact area with the ground in a state where the vehicle body 10 is tilted can be increased. Also in this respect, the vehicle body 10 is not easily toppled, and safe traveling can be realized.

  The motorcycle according to the present invention is not limited to the above-described embodiment, and may be adopted as follows.

For example, for the front wheel portion and the rear wheel portion, the type of tire to be used and the method for connecting the tires are not limited, and the left tire and the right tire are coaxially supported on the vehicle body. As long as the design can be changed.

For the front drive unit and the rear drive unit, instead of using two motors to drive the left and right tires independently, a combination of one motor and a speed governor capable of controlling the speed ratio May be used. That is, if the left tire and the right tire are connected to each other via the speed governor and the whole is connected to the motor, and the motor and the speed governor are controlled, then two motors are used. Exactly the same operation can be realized. An engine may be used instead of the motor, or a hybrid type in which the motor and the engine are mixed may be used.

  About a sensor part, you may make it abbreviate | omit one of the sensor which detects the operation angle of a steering wheel, and the sensor which detects the inclination angle of a vehicle body.

As for the control unit, there is no software and the same function as that of the above-described embodiment may be exhibited by hardware, and the front drive unit and the rear drive unit are operated according to the accelerator. a is, left tire of the front wheel portion so as not to fall during traveling on the basis of the detection result of the sensor unit, the left tire of the right tire and the rear wheel unit, as long as it has a function of adjusting the respective rotational speed of the right tire Also, the contents and control method of the pattern related to the size of the rotation speed of each tire and the control method may be appropriately changed according to the center of gravity position and overall weight of the vehicle body, the friction coefficient of the tire, the power of the front drive unit and the rear drive unit, etc. It ’s fine.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a side view of a motorcycle for explaining the embodiment of the present invention. Fig. 2 is a schematic front view of a front wheel portion and the like of the same motorcycle. It is a block diagram of the same motorcycle. FIG. 3 is a schematic front view showing a state where the motorcycle is traveling without being inclined and a state where the motorcycle is traveling while being inclined. It is a figure which shows the pattern of the magnitude relationship of the rotational speed of each tire adjusted according to the handle | steering-wheel operation angle / tilt angle in case the same motorcycle turns / tilts.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Motorcycle 10 Car body 11 Handle 12 Accelerator 20 Front wheel part
21L left tire
21R Right tire 30 Rear wheel
31L Left tire
31R Right tire 40 Front drive unit 50 Rear drive unit 60 Sensor unit 70 Control unit

Claims (2)

A front wheel portion disposed on the front side of the vehicle body and the left and right tires are coaxially supported, and a rear wheel portion disposed on the rear side of the vehicle body and the left and right tires are coaxially supported. A front drive unit that independently drives the left tire and the right tire of the front wheel unit, a rear drive unit that independently drives the left tire and the right tire of the rear wheel unit, an operation angle of the steering wheel, and a vehicle body A sensor unit that detects the inclination angle of the vehicle, and a unit that operates the front drive unit and the rear drive unit in accordance with the accelerator, and at the left of the front wheel unit so as not to fall during traveling based on at least the detection result of the sensor unit A tire, a right tire, a left tire of the rear wheel portion, and a control unit having a function of adjusting each rotational speed of the right tire, and the control unit has a vehicle body not tilted and a steering wheel in the left direction. Check that the sensor is pointing to the right. When the left and right wheels of the front wheel section, the left tire of the rear wheel section, the left tire of the rear wheel section, and the right tire rotational speeds FL, FR, BL, BR are shown in the magnitude relationship shown in the upper left side of Table 1 and the lower side of the same table. When the sensor unit detects that the steering wheel direction has not changed and the vehicle body is tilted leftward or rightward, the left tire, right tire, rear side of the front wheel portion The rotational speeds FL, FR, BL, BR of the left tire and the right tire of the wheel part are respectively adjusted so as to have the magnitude relationship shown in the upper right side of Table 1 and the lower side of the same table. Motorcycle.

  The motorcycle according to claim 1, wherein the left and right tires of the front wheel portion and the rear wheel portion are bilaterally symmetric and have a substantially arc shape from the outer peripheral inner edge to the outer edge. A motorcycle characterized by that.

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