JP4566379B2 - Levitation type moving body - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a floating type moving body for transporting or moving a person or an object, and in particular, independently of a guide rail, controls a moving direction autonomously and freely moves on a plane in all directions. The present invention relates to a levitating type mobile body having a levitating device that makes it possible.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, a floating type moving body that floats and travels from a ground surface by a levitating device, such as air or a magnetically levitated linear motor car, has been developed on the premise that it travels on a dedicated traveling path such as an overhead. For this reason, it is impossible to intersect with other transportation such as humans and automobiles on a plane, and as a rule, three-dimensional intersections with humans and other transportations have been ensured for safety and driving performance.
[0003]
However, for this reason, passengers must move to elevated stations when getting on and off, and are inferior in terms of convenience for getting on and off as light rails (trams) as a short- or medium-distance transportation method in the city. It was.
[0004]
Therefore, in order to move away from the transportation system that focuses on driving on these dedicated driving roads, and to become a more accessible means of transportation for users, they move on driving roads at the same level as ordinary roads and pedestrians. It was necessary to develop a technology that would enable it.
[0005]
Furthermore, the floating linear motor car currently in practical use requires contact with a guide rail for controlling the traveling direction of the floating linear motor car, a current collecting rail for power supply, and the like. For this reason, in order to move in directions other than the traveling direction, contact with these guides and rails has been an obstacle.
[0006]
As a control device for an autonomous traveling direction, a floating transportation device (Japanese Patent Laid-Open No. 11-157650) as shown in FIG. 15, for example, is conventionally known. In this apparatus, eight air bearings 2 are provided on the bottom surface of an air pallet (air levitation carriage) 1, and compressed air is supplied to the air bearings 2 from a compressed air supply source 3, so that the air Pallet 1 is floating.
[0007]
Further, as the driving / turning device 10, X-direction traveling drive units 4a and 4b are disposed on the X-axis outer side of the bottom surface of the air pallet 1, and Y-direction traveling drive units 5a and 5b are disposed on the inner side. And it is comprised so that the air pallet 1 may move to the direction corresponding to this rotation direction by rotating in the state which pressed down the wheel (illustration omitted) provided in each said unit 4a, 4b, 5a, 5b to the floor surface. Has been.
[0008]
[Problems to be solved by the invention]
Since the conventional levitation type linear motor car controls the traveling direction only by the guide rail, it travels only on the dedicated traveling path with the guide rail. For this reason, the arrangement of the traveling path is restricted, and it is necessary to provide a dedicated traveling path such as on an elevated road. In addition, the boarding / exiting positions of users (passengers) such as stations are also limited, and there is a limit to downsizing the space for installing the roads and stations. In actual use as a transportation system, It was a restriction.
[0009]
In addition, the conventional floating linear motor car does not have a driving method other than the linear motor, so the linear motor car could not be moved autonomously. When the traveling direction is changed, it can only be performed by applying force to the linear motor car from the outside, and a device for that purpose is required.
[0010]
15 is not a device related to a linear motor car, and is not provided with a guide function for high-speed travel, and is therefore applied to a linear motor car. In addition to this, in order to control the traveling direction, two sets of X-direction traveling drive units 4a and 4b and Y-direction traveling drive units 5a and 5b are required. When applied, there is a problem that the device configuration becomes complicated and large.
[0011]
The present invention has been made in view of the above points, and an object of the present invention is to make it possible to control the moving direction autonomously without the aid of an external force or an external device. Provide a floating mobile body that can move on a road that does not involve a road, saves space on the road and increases the degree of freedom in the layout of the road, and can move at the same level as a general sidewalk or road There is.
[0012]
[Means for Solving the Problems]
The floating mobile body of the present invention for solving the above-mentioned problem is a floating mobile body that floats and moves from a ground surface by a floating device, and is provided on a main body of the floating mobile body, A moving means having a driving wheel capable of contact with the grounding surface and a driving motor for driving the driving wheel, a steering angle control unit for controlling a steering angle of the driving wheel, and the driving wheel are pressed against the grounding surface. A steering unit integrated with a moving direction control means having a pressing force control unit for controlling the pressure to be performed, and a dedicated traveling path operation mode in a form of operating a dedicated traveling path with a guide rail and a current collecting rail, Steering angle control of the steering angle control unit of the steering unit is stopped, and the pressing force of the pressing force control unit is controlled to a pressure at which a frictional force that can detect the speed of the main body by rotation of the drive wheel is obtained. In the non-dedicated running route operation mode in which the control of the drive motor is stopped and the non-dedicated running route is operated without the guide rails or the current collecting rails, it is arranged on the magnetic belt installed along the non-dedicated running route. Magnetic The steering angle of the steering angle control unit of the steering unit is controlled based on the angle of the main body with respect to the traveling direction obtained by the sensor, the pressing force of the pressing force control unit is variable, and the traveling direction of the main body is variable by driving wheels Steering angle control unit of the steering unit in the autonomous operation mode in which the control of the drive motor is stopped and the control of the drive motor is stopped, and the operation is performed on other than the dedicated travel path and the non-dedicated travel path. The steering angle is fixed at an angle x with respect to the traveling direction of the main body, the pressing force of the pressing force control unit is once released, and after the steering angle is fixed at the angle x, the driving wheel is driven. The pressure is controlled to a pressure at which a frictional force capable of transmitting force to the traveling path is obtained, and the drive motor is speed controlled to the operation speed of the main body in the autonomous operation mode. And a steering unit controller.
The present invention The levitating type mobile body includes the dedicated traveling path or the non-dedicated traveling path installed on each of a plurality of floors, and an elevator car that moves up and down in an elevator hoistway connecting the floors. The steering unit performs control in the autonomous operation mode when entering the elevator car from any of the traveling roads and when leaving the elevator car to either the dedicated traveling road or the non-dedicated traveling road. It is characterized by this.
[0013]
Further, the moving direction control means of the levitated moving body of the present invention is characterized in that the moving direction is controlled by a frictional force generated between the floating surface and the ground surface.
[0017]
The main body of the floating type moving body is characterized in that means for traveling on a dedicated traveling path with a power supply rail and a guide rail is provided.
[0021]
Further, the steering unit is formed by a pair of steering units provided at diagonal positions on the front and rear of the bottom of the main body of the floating moving body.
[0022]
Furthermore, in the present invention, in addition to traveling on a dedicated traveling path with a guide (guide mechanism), a steering unit installed on a floating moving body for controlling traveling on a traveling path without a guide has been developed.
[0023]
In the floating type moving body having this steering unit, the moving direction can be controlled autonomously by adopting a method of controlling the moving direction by the frictional force with the ground contact surface. By combining with battery mounting, it is possible to move on the road without guide rails or current collecting rails, saving space on the road and increasing the degree of freedom in road layout, and general sidewalks It is also possible to move at the same level as roads and roads.
[0024]
Further, when traveling at a high speed, the guide stored in the vehicle is made to function, so that it is possible to travel at a high speed on a dedicated traveling path with a guide. In addition, this steering unit can also be a driving device that autonomously moves in all directions on the ground plane, so that it can change the direction of movement, autonomously in lateral and diagonal directions without a device that applies force from the outside. Movement is possible.
[0025]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment in which the levitated moving body of the present invention is applied to an air levitated linear motor car will be described with reference to the drawings. First, FIG. 1 shows a schematic diagram of a linear motor car of a floating type moving body in the present invention. The vehicle body 11 (main body) of the linear motor car is usually provided with doors 12 on both sides of the vehicle body 11 for passengers getting on and off. An air pad 13 for air levitation is attached to the bottom surface of the vehicle body 11. The air pad 13 supports the vehicle body 11 by the low-pressure air generated by the blower unit 14 and forms a thin layer of air between the traveling surface 15 and thereby supports the vehicle body 11 to minimize contact friction, thereby causing the linear motor car to travel. Is.
[0026]
The linear motor primary side 16a is attached to the center of the bottom of the vehicle body 11 of the linear motor car so as to face the linear motor secondary side 16b arranged side by side in the center of the running surface 15. By using the battery 17 as a power source and passing an alternating current controlled by the inverter 18 through the winding of the linear motor primary side 16a, a propulsive force is generated between the linear motor secondary side 16b installed in the center of the travel path. Generated and run.
[0027]
Here, in this embodiment, the blower unit 14, the battery 17, the inverter 18, and the like are arranged at both ends in the front-rear direction of the vehicle body 11 as shown in FIG. 1, and the air pad 13 and the linear motor 1 are arranged. Since the secondary side 16a is configured to be thin, for example, the linear motor car can be lowered and reduced in size as shown in FIG.
[0028]
In the air levitation method using the air pad 13, the vehicle body 11 is supported by this, but it does not give restrictions on the moving direction of the linear motor car, and the degree of freedom of the linear motor car is not limited to the traveling direction but in all directions on the plane. They are free.
[0029]
When autonomously traveling on a road other than a dedicated road, the traveling direction of the linear motor car is controlled by, for example, a steering unit 19 installed diagonally to the vehicle body 11 as shown in FIG.
[0030]
The steering unit 19 is formed by integrating a moving means for moving the vehicle body 11 and a movement direction control means for controlling the moving direction of the vehicle body 11, and is attached to the vehicle body frame as shown in FIG. Yes.
[0031]
In FIG. 2, the vertical plate portion 20 of the steering unit frame 20 for providing the steering unit components on the vertical column portion of the vehicle body frame 11 f. _V Is fixed. The vertical plate portion 20 of the steering unit frame 20 _V At the upper end of the horizontal plate portion 20 along the traveling direction during normal running of the linear motor car _H The turning motor (steering angle control part of the moving direction control means) 21 is disposed on the upper surface.
[0032]
The drive shaft (not shown) of the turning motor 21 is a horizontal plate portion 20. _H Is inserted into the hole in which the horizontal plate portion 22 of the steering wheel frame 22 is inserted. _H Is fixed to a substantially central portion in the longitudinal direction. Horizontal plate portion 22 of the steering wheel frame 22 _H One end of the vertical plate portion 22 _V Is formed below and the vertical plate portion 22 _V A support portion 22a is provided at a substantially central portion.
[0033]
One end of a swing arm 23 is pivotally supported on the support portion 22a so as to be rotatable along a vertical plane. The other end of the swing arm 23 is formed in a U-shape, and a steered wheel (for example, a driving wheel made of a tire, hereinafter also referred to as a driving wheel) 24 is rotatable inside the U-shaped plate. The steering wheel 24 is configured to be rotationally driven by a driving motor 25 fixed on the outside of the U-shaped plate.
[0034]
Reference numeral 26 denotes a pressing actuator as a pressing force control unit that controls the pressure for pressing the steering wheel 24 against the ground surface. One end of the pressing actuator 26 is a horizontal plate portion 22 of the steering wheel frame 22. _H Is pivotally supported by a support portion 22b provided on the lower surface of the other end so as to be rotatable along a vertical plane. The other end of the pressing actuator 26 is pivotally supported by a support portion 23a provided substantially at the center of the swing arm 23 so as to be rotatable along a vertical plane.
[0035]
The pressing actuator 26 is controlled by a pneumatic (hydraulic) compressor, which will be described later, and swings the swing arm 23 along a vertical plane with the support portion 22a as a fulcrum by expansion and contraction of a piston as an operation portion.
[0036]
Although not shown in the drawings, the linear motor car main body of the present invention stores means (such as a guide) for traveling on a dedicated traveling path with a power rail (power supply rail) and a guide rail (guide rail). .
[0037]
In the apparatus configured as described above, the steered wheel 24 travels while guiding the linear motor car in a required direction when the turning motor 21 is driven by a command from a control apparatus described later. Under the control of the turning motor 21, the steering wheel frame 22 rotates in the direction of the arrow A shown in the figure to control the traveling direction of the vehicle body.
[0038]
Since the body of the linear motor car is supported by the air pad 13 shown in FIG. 1, the steering wheel 24 is pressurized and controlled by the pressing actuator 26 of the steering unit 19 so as to generate appropriate traction with the traveling road surface. The As the pressing actuator 26 expands and contracts, the swing arm 23 moves up and down, and the steering wheel 24 is controlled in the direction of the arrow B in the figure.
[0039]
The present invention is characterized in that the steering wheel 24 of the steering unit 19 is driven by a driving motor 25 and generates a driving force together with a steering function. For this reason, when the linear motor car moves between a dedicated traveling path and a non-dedicated traveling path, or when performing a turning operation at the end portion of the traveling path, the steering wheel 24 is perpendicular to the traveling direction of the vehicle. And the linear motor car can be moved laterally by being driven by the drive motor 25.
[0040]
At this time, when the steering wheel 24 is driven by the drive motor 25 with the steering wheel 24 held at a certain angle rather than at a right angle in the traveling direction, the linear motor car moves obliquely in the above angle direction with respect to the traveling direction. Can be made.
[0041]
FIG. 3 shows an example of a block diagram of a control device of the steering unit 19. The steering unit 19 can control three of the turning motor 21 for steering, the pressing actuator 26 and the driving motor 25 according to the operation mode of the steering unit.
[0042]
The operation mode of the steering unit is, for example, a dedicated travel path operation mode in which a dedicated travel path (a travel path with a guide rail or a current collecting rail) is operated, or a non-dedicated travel path (a travel without a guide rail or a current collector rail). There are three types: a non-dedicated traveling route operation mode in which a route is operated, and an autonomous operation mode in which a route other than the dedicated traveling route and the non-dedicated traveling route is operated. The autonomous operation mode is a traversing mode that moves in a direction perpendicular to the front-rear direction of the vehicle body when moving between a dedicated traveling path and a non-dedicated traveling path, or when performing a turning operation at the end of the traveling path. Contains.
[0043]
These operation modes are switched and controlled by the main controller 30 which is a traveling control panel of the moving body.
[0044]
Reference numeral 31 denotes a steering unit controller that controls the turning motor 21, the driving wheel (steering wheel) 24, and the pressing actuator 26 based on the operation mode switching command from the main controller 30.
[0045]
Reference numeral 32 denotes a magnetic belt installed along a non-dedicated running path, and a magnetic sensor unit 33 formed by arranging a plurality of magnetic sensors on a straight line is installed on the magnetic belt 32 at a right angle.
[0046]
The steering unit controller 31 compares the outputs of the magnetic sensors of the magnetic sensor unit 33 to calculate the angle of the vehicle body with respect to the traveling path traveling direction, and issues a control angle command to the servo amplifier 34 that controls the turning motor 21. Thus, the traveling direction is controlled. A potentiometer 35 detects a turning angle.
[0047]
The levitated moving body of the present invention is moved by the drive wheel 24 when traversing, but the steering unit controller 31 moves the steering wheel frame 22 of the steering unit 19 in advance with respect to the vehicle body traveling direction by the pressing actuator 26 and the turning motor 21. Then, a driving command is given to the speed control inverter 18 while controlling the drive wheels 24 while performing speed feedback control by the rotary encoder 36.
[0048]
Reference numeral 37 denotes a pneumatic (hydraulic) compressor that operates the pressing actuator 26. Reference numeral 38 denotes a position detector for detecting the position during traversing.
[0049]
The steering unit 19 includes the turning motor 21, the driving motor 25, and the pressing actuator 26 in accordance with a flow chart as shown in FIG. Independently controlled.
Next, the state of these controls will be described with reference to FIGS.
[0050]
First, the main controller 30 performs step S in FIG. ₁ When the dedicated travel route operation mode is selected, the turning motor 21 stops all control and no power is supplied to the motor (step S). ₂ ). Further, the pressing actuator 26 pressurizes the pressing wheel 26 so as to be pressed against the traveling path at a low pressure so that a frictional force capable of detecting the speed of the main body is obtained by the rotation of the driving wheel 24 (step S). _Three ). The drive motor 25 stops all control and no power is supplied to the motor (step S _Four ).
[0051]
Next, the main controller 30 performs step S. _Five When the non-dedicated traveling route operation mode is selected, the turning motor 21 is controlled based on the deviation amount with respect to the traveling direction obtained by the magnetic belt 32 and the magnetic sensor unit 33. Thereby, the direction angle (steering angle) of the drive wheel 24 is controlled (step S). ₆ ). Further, the pressing actuator 26 pressurizes the driving wheel 24 so as to be pressed against the travel path at a high pressure so that a frictional force that can change the traveling direction of the main body is obtained by the driving wheel 24 (step S). ₇ ). The drive motor 25 stops all control and no power is supplied to the motor (step S ₈ ).
[0052]
Next, the main controller 30 performs step S. ₉ When the autonomous operation mode is selected, the turning motor 21 is fixed at an angle x with respect to the traveling direction of the main body. That is, when x = 90 °, the traverse is performed, and at an angle such as x = 45 °, the traveling direction is oblique (step S). _Ten ). Further, the pressing actuator 26 can release the pressurization once when the state changes from the non-dedicated traveling route operation mode, and then can set the angle to be advanced in the autonomous operation mode and then transmit the driving force to the traveling route. In order to obtain a frictional force, pressure is applied so as to be pressed against the travel path at a high pressure (step S). ₁₁ ). The drive motor 25 is speed-controlled to the operation speed of the main body in the autonomous operation mode (step S ₁₂ ).
[0053]
The step S ₁ , S _Five , S ₉ Order of execution, step S ₂ , S _Three , S _Four Order of execution, step S ₆ , S ₇ , S ₈ Order of execution, step S _Ten , S ₁₁ , S ₁₂ The order of executing is not limited to the flowchart of FIG. 4 and may be another order.
[0054]
FIG. 5 conceptually shows how the linear motor car changes its direction using the drive function of the steering unit 19 of the present invention.
[0055]
According to the above-described embodiment of the present invention, it is possible to reduce the floor and size of the linear motor car. FIG. 6 is a schematic view showing the structure of the vehicle body 11 according to an embodiment, and shows a section of the vehicle body and a part of the vehicle body floor cut by the symbol AA. An air pad 13 that supports the vehicle body as an air levitation device, and a chassis frame 40 that functions as a structure for the vehicle body 11 and piping for supplying air to the air pad 13 are attached to the lower portion of the vehicle body 11. Further, the linear motor primary side 16a is attached to the lower center of the vehicle body 11 so as to face the linear motor secondary side (not shown) on the travel path side.
[0056]
Although not shown in FIG. 6, the blower unit 14, the battery 17, the inverter 18 and the like mounted on the vehicle body 11 are collectively arranged at both ends in the front-rear direction of the vehicle body 11 as described in FIG. 1. In addition, both the air pad 13 and the linear motor primary side 16a are basically elements that can be configured and designed to be thin, and a chassis structure in which these are arranged on the same plane reduces the size with a low floor. A car body can be easily realized.
[0057]
As described above, in the linear motor car according to the present invention, the switching movement between the high-speed operation mode with the guide and the low-speed operation mode without the guide, or 2 provided at a predetermined distance on the same direction extension line on the same plane. It is possible to reduce the space required for movement between two traveling paths, movement between traveling paths with different heights, and the like.
[0058]
In addition, by applying the present invention, the following new traffic operation system can be constructed. First, FIG. 7 and FIG. 8 are examples when the operation mode is switched between different traveling roads on the same plane, and FIG. 7 shows that the linear motor car moves from the non-dedicated traveling road 50 to the dedicated traveling road 51. It is a conceptual diagram of time.
[0059]
In this example, the non-exclusive travel path 50 is operated as the routes P1 and P2, stops at P3 where the boarding area 52 is located, and after passengers get on and off, the route P4 is used to travel into the dedicated travel paths 50 on the routes P5 and P6. It has migrated. In this case, the movement from the path P2 to P3 and the movement from P4 to P5 are controlled in the above-described transverse mode. In FIG. 7, 53 indicates a roadway and 54 indicates a sidewalk.
[0060]
FIG. 8 is a conceptual diagram when the linear motor car moves from the dedicated traveling path 51 to the non-exclusive traveling path 50. In this example, the exclusive traveling path 51 is operated along the routes P1 and P2, stops at P3 where the boarding area 52 is located, and after passengers get on and off, the route moves to the non-exclusive traveling path 50 via the path P4.
[0061]
At this time, the route P4 → P5 or P4 → P5 ′ is operated according to the traveling direction in the non-exclusive traveling path 50. In this case, the movement from the path P2 → P3, the travel from the P4 → P5, and the movement from the P4 → P5 ′ are controlled in the above-described transverse mode.
[0062]
Furthermore, the linear motor car of the present invention can also be moved by switching the operation mode even when transitioning between two traveling paths provided at a predetermined distance on the same plane as shown in FIG.
[0063]
FIG. 9 is a conceptual diagram when the linear motor car shifts from the dedicated traveling path 51 to the non-exclusive traveling path 50. In this example, after operating the exclusive traveling path 51 with the routes P1 and P2, the vehicle travels to the routes P3 and P4 of the non-exclusive traveling path 50.
[0064]
In this case, the movement from the route P2 to the route P3 indicated by the broken line is controlled in the above-described autonomous operation mode (mode in which autonomous operation is performed on a travel route other than the dedicated travel route and the non-dedicated travel route). Conversely, when moving from the route P4 → P3 → P2 → P1, the movement from P3 to P2 is controlled in the autonomous operation mode as described above.
[0065]
In addition, the linear motor car can be self-propelled and stored in the elevator using the autonomously moving means of the present invention. As a result, as shown in FIG. 10, the operation mode can be switched between traveling paths that are not on the same plane by using an elevator. In FIG. 10, the first floor has a non-dedicated traveling path 50, the second floor has a dedicated traveling path 51, and the third floor has only a landing 52, and an elevator hoistway 60 that connects the floors is provided. The elevator car 61 is configured to move up and down.
[0066]
The linear motor car moves to the end of the exclusive or non-exclusive driving path, then moves into the elevator car 61 by the steering unit, then transported to the target floor by the elevator, and then returns from the elevator car 61 to the driving path by the steering unit. To start moving.
[0067]
Therefore, when the linear motor car enters and leaves the elevator car 61, movement control is performed in the autonomous operation mode described above.
[0068]
In addition, by using the autonomous mobile device according to the present invention, the linear motor car can adjust the distance from the platform and the sidewalk at the time of stopping, and can be stopped without a gap between the platform and the sidewalk. Become. In addition, even when operating on double tracks, it is possible to save space by installing one station or platform stop on one side of the road.
[0069]
FIG. 11 is a conceptual diagram of a stopping method for a moving system that travels on a traveling path 50 without a guide rail in the left-right direction, and shows an example of an operating method that enables one home to be installed on one side. Yes. It is assumed that a pedestrian is using a sidewalk 54 that is continuous with a boarding area 52, and an automobile is a roadway 53 that is parallel to a non-dedicated running path 50.
[0070]
The linear motor car A operates from right to left and the linear motor car B operates from left to right. Both the linear motor cars A and B are assumed to get on and off passengers at the landing 52. The linear motor car A sequentially moves from right to left as A1, A2, and A3, and stops at A2 for passengers getting on and off.
[0071]
Further, the linear motor car B sequentially moves from left to right as B1, B2, B3, B4, and B5. Since the linear motor car B travels away from the landing 52, the linear motor car B operates by moving laterally between B2 and B3 and between B3 and B4 after the passengers get on and off. In this mode of operation, passengers can get on and off without crossing the linear motor car travel route, ensuring convenience and safety.
[0072]
At the time of passenger getting on and off, that is, at the position A2 or B3 in FIG. Allows getting on and off without any problems.
[0073]
FIG. 12 is a conceptual diagram showing the operation of a linear motor car at a terminal station on a dedicated traveling path with a guide, and shows an example in which a home can be installed only at one place on one side.
[0074]
The linear motor car is operated in the order of routes P1, P2, P3, and P4, and stops at P3. The linear motor car A is a standby vehicle and starts operation as the number of passengers in the system increases. In addition, by repeating the method in which the linear motor car uses the route W2a from P2 and the route P2 → P3, it is possible to enter the station even when there is already a preceding vehicle at the landing 52. Operation at the terminal station is possible.
[0075]
As described above, according to this embodiment, the linear motor car can be reduced in size, and the space for switching the traveling path, station platform, and operation mode can be saved, and the production cost and construction of the linear motor car as a whole system can be reduced. Cost can be reduced.
[0076]
In addition, it is possible to run and move on a dedicated road with power rails and guides and a road without power rails and guides, and by autonomous movement using a steering unit, directly enter the elevator in the destination building by itself. Can do. That is, for example, it is possible to enter a hospital facility, and it is possible to enter directly into a residential area or a house, improving convenience and safety for passengers.
[0077]
Further, since the guide is not required, the intersection between the road and the road and the sidewalk can be performed on the same plane, and it is not always necessary to be a three-dimensional intersection, and the construction of the intersection is simplified. Since a plane can be crossed with the sidewalk, there is no need for the pedestrian to move up and down when crossing the road.
[0078]
Furthermore, the traffic system according to the present invention does not require a guide rail or a mechanical device for controlling the moving direction, and the traveling road can be installed on the same level as the road as well as the elevated road. There is no loss.
[0079]
As another embodiment of the present invention, as shown in FIG. 13, separately from the steering unit 19, a lateral movement unit 69 for executing the above-described transverse mode may be provided independently. FIG. 13A is an example in which the lateral movement unit 69 is provided close to each of the pair of steering units 19, and FIG. 13B is a position that is symmetrical with respect to the central axis in the traveling direction from the installation position of the steering unit 19. In this example, the lateral movement unit 69 is provided, and the same parts as those in FIG.
[0080]
Further, the steering unit 19 of the present invention is not limited to the configuration shown in FIG. 2, but may be configured to move the drive wheels (steering wheels) 24 vertically, for example.
[0081]
In the above embodiment, the moving unit and the moving direction control unit of the present invention are integrated to form a steering unit. However, the present invention is not limited to this, and the moving unit and the moving direction control unit are integrated. Instead, it may be provided on the main body of the moving body.
[0082]
The rudder angle control unit of the present invention is not limited to the turning motor 21 shown in FIG.
[0083]
The pressing force control unit of the present invention is not limited to the pressing actuator 26 shown in FIG.
[0084]
Further, the installation position and the number of installation of the steering unit 19 of the present invention are not limited to those of the above-described embodiment example, and for example, only one may be provided at the center of the vehicle body, or three or more may be provided as a whole. .
[0085]
Further, the linear motor car to which the present invention is applied is configured by arranging the linear motor primary side 16a on the vehicle body 11 and the linear motor secondary side 16b on the running surface 15 on the ground. Not limited to this, the present invention may be applied to a linear motor car configured by arranging the linear motor primary side 16 a on the ground running surface 15 and the linear motor secondary side 16 b on the vehicle body 11. In this case, the same operation and effect as described above can be obtained.
[0086]
The present invention can be applied not only to an air levitation type linear motor car but also to a magnetic levitation type linear motor car, and in this case, the same operation and effect as described above can be obtained.
[0087]
Further, the present invention is not limited to a floating moving body driven by a linear motor, but can be applied to a floating driving body driven by a rope drive type or an air-propelled floating moving body using a propeller such as a hovercraft, In this case, the same operation and effect as described above can be obtained.
[0088]
That is, the present invention is applied to a rope shuttle as shown in FIG. In FIG. 14, a levitating device 72 is provided at the lower part of the vehicle 71 of the rope shuttle. The levitation device 72 is configured to float the vehicle 71 from the traveling surface by supplying air from a blower (not shown) to the air pad 73. For example, the front and rear diagonal positions in the vehicle 71 are provided with the moving means and moving direction control means of the present invention, for example, the steering unit 19 described above.
[0089]
The traction device 80 for running the vehicle 71 is provided with a lifting machine 81 and pulleys 82 and 83 on one side of the traction section, and provided with pulleys 84 and 85 and a weight 86 on the other side, and a wire rope 87 is attached to the lifting machine 81. The sheave 81a, sheaves 82, 84, 83, and sheave 81a are endlessly hung in this order, and the other end of the wire rope 88 tied to the sheave 84 is connected to the weight (or hydraulic system) 86 via the sheave 85. By applying this force, tension is applied to the pulley 84 toward the pulley 85, and the wire rope 87 is fixed to the movable wire rope attaching / detaching arm 74 provided in the vehicle 71.
[0090]
The wire rope attaching / detaching arm 74 is provided with a rope attaching / detaching portion at the tip thereof, and is controlled so as to fix the wire rope 87 or to release the fixed state.
[0091]
When the vehicle 71 is caused to travel in the dedicated traveling path, the vehicle is lifted from the traveling surface by the levitation device 72, the vehicle 71 is floating, and the wire rope 87 is fixed to the wire rope attaching / detaching arm 74. The machine 81 is driven, the vehicle 71 is pulled by the rope 87, and the vehicle 71 is caused to travel with no frictional resistance between the vehicle 71 and the traveling surface.
[0092]
When the vehicle 71 is moved on a travel path other than the dedicated travel path, the wire rope attaching / detaching arm 74 is driven to release the fixed state with the wire rope 87, and the traverse or predetermined direction is determined by the operation of the steering unit 19 described above. Autonomous operation.
[0093]
The control of the steering unit 19 in FIG. 14 is performed when, for example, step S in FIG. ₁ ~ Step S _Four Is performed, and the wire rope 87 is cut off and autonomous operation is performed on a route other than the dedicated road, for example, step S in FIG. ₉ ~ Step S ₁₂ Is to execute.
[0094]
14 is not limited to that described above, and the attachment / detachment mechanism between the vehicle body 71 and the wire rope 87 is not limited to the wire rope attachment / detachment arm 74. Other mechanisms may be used.
[0095]
【The invention's effect】
As described above, according to the present invention, the following excellent effects can be obtained.
(1) It is possible to control the direction of movement autonomously without the aid of external force or external devices, and it is possible to move on a road without guide rails or current collecting rails, thereby saving space on the road. At the same time, the degree of freedom of the layout of the road has increased, and it has become possible to move at the same level as ordinary sidewalks and roads.
(2) Since the levitated moving body of the present invention can move autonomously by the main body itself, it is necessary for movement between a dedicated traveling path and a non-dedicated traveling path, or between traveling paths with different heights. The space can be reduced in size.
(3) Moreover, according to the floating type mobile body of this invention, it can move using the elevator between the running paths which are not on the same plane. For this reason, it is possible to construct a transportation system for a floating mobile body that utilizes an elevator, save space in three-dimensional movement, and do not need to be changed when moving into a building. Remarkably improved.
(4) Further, the levitated moving body of the present invention can travel and move on a dedicated traveling path having a power feeding rail and a guide mechanism and a traveling path having no power feeding rail and a guide mechanism, and by autonomous movement using a steering unit, You can directly board the elevator in the destination building. That is, for example, it is possible to enter a hospital facility, and it is possible to enter directly into a residential area or a house, improving convenience and safety for passengers.
(5) Further, the floating mobile body of the present invention does not require the guide mechanism, so that the intersection of the traveling road and the road or the sidewalk can be performed on the same plane, and need not necessarily be a three-dimensional intersection. Eliminates the construction of the intersection. Since a plane can be crossed with the sidewalk, there is no need for the pedestrian to move up and down when crossing the road.
(6) Moreover, since the floating type mobile body of the present invention can autonomously move by itself, it can be stopped with little gap between the platform and the sidewalk. For this reason, a wheelchair having a particularly small diameter wheel can get on and off without any problem, and convenience and safety at the time of getting on and off are improved.
(7) Further, since the levitated mobile body of the present invention is capable of autonomous movement, it is only necessary to install one station or platform stop on one side of the traveling road even when carrying out double track operation. Thus, cost reduction and space saving can be achieved.
[0096]
In addition, the floating mobile body of the present invention eliminates the need for passengers to cross the travel path when the stop location is only on one side of the travel path, thereby ensuring convenience and safety.
[0097]
Further, since the levitated moving body of the present invention can move in the lateral direction, for example, at the terminal station, even if there is a preceding vehicle, another subsequent vehicle can enter the station premises, and the efficiency Operation can be carried out.
(8) In addition, the levitated moving body of the present invention can be reduced in size, and can further save space in the travel path, station platform, and operation mode switching space. Production costs and overall system construction costs can be reduced.
(9) The levitated moving body of the present invention does not require a guide rail or a mechanical device for controlling the moving direction, and the traveling path can be installed on the same level as the road, not on the elevated road, The surrounding scenery will not be damaged even after the road is installed.
[Brief description of the drawings]
1A and 1B show an embodiment of the present invention, in which FIG. 1A is a plan view of a lower part of a vehicle body, and FIG.
FIG. 2 is a configuration diagram illustrating an example of a steering unit according to an exemplary embodiment of the present invention.
FIG. 3 is a control block diagram of a steering unit representing an embodiment of the present invention.
FIG. 4 is a flowchart illustrating a method for controlling a steering unit according to an exemplary embodiment of the present invention.
FIG. 5 is a conceptual diagram of direction change, showing an embodiment of the present invention.
FIG. 6 is a structural diagram showing the inside of a vehicle body according to an embodiment of the present invention.
FIG. 7 is an explanatory diagram showing an example of an embodiment of the present invention and showing an example of autonomous movement between traveling roads on the same plane.
FIG. 8 is an explanatory diagram showing another example of the present invention and showing another example of autonomous movement between traveling roads on the same plane.
FIG. 9 is an explanatory diagram showing another example of the present invention and showing another example of autonomous movement between traveling roads on the same plane.
FIG. 10 is an explanatory diagram illustrating an embodiment of the present invention, which is stored in an elevator by autonomous movement and moves up and down.
FIG. 11 is an explanatory view showing an example of the present invention and showing an example of a stopping method for improving convenience of getting on and off by installing one station on one side.
FIG. 12 is an explanatory view showing another embodiment of the present invention and showing another example of a stopping method for improving convenience of getting on and off by installing one station on one side.
FIG. 13 is a plan view of an essential part showing another embodiment of the present invention.
FIG. 14 is a perspective view illustrating another embodiment of the present invention.
FIG. 15 is a main part plan view showing an example of a conventional traveling direction control device.
[Explanation of symbols]
11, 71 ... car body
11f ... Body frame
12 ... Door
13, 73 ... Airpad
14 ... Blower unit
15 ... Running surface
16a ... Linear motor primary side
16b ... Linear motor secondary side
17 ... Battery
18 ... Inverter
19 ... Steering unit
20 ... Steering unit frame
21 ... Motor for turning
22 ... Steering wheel frame
23 ... Swing arm
24 ... Steering wheel (drive wheel)
25 ... Drive motor
26 ... Pushing actuator
30 ... Main controller
31 ... Steering unit controller
32 ... Magnetic belt
33 ... Magnetic sensor unit
34 ... Servo amplifier
35 ... Potentiometer
36 ... Rotary encoder
37 ... Pneumatic (hydraulic) compressor
38 ... Position detector
40 ... Chassis frame
50 ... Non-exclusive road
51 ... Exclusive driving path
52 ... Boarding
53 ... Roadway
54 ... Sidewalk
60 ... Elevator hoistway
61 ... Elevator car
69 ... Horizontal movement unit
72 ... Levitation device
74 ... Arm for attaching / detaching wire rope
80 ... Traction device
81 ... Hair plane
81a ...
82-85 ... pulley
86 ... Weight
87,88 ... Wire rope

Claims (2)

A levitating type moving body that moves up from the ground surface by a levitating device,
Provided in the main body of the floating mobile body,
A moving means having a driving wheel capable of contact with the grounding surface and a driving motor for driving the driving wheel, a steering angle control unit for controlling a steering angle of the driving wheel, and the driving wheel are pressed against the grounding surface. A steering unit integrated with a moving direction control means having a pressing force control unit for controlling the pressure to be
At the time of a dedicated traveling path operation mode in which a dedicated traveling path with a guide rail or a current collecting rail is operated, the steering angle control of the steering angle control unit of the steering unit is stopped, and the pressing force of the pressing force control unit is Control the pressure to obtain a frictional force that can detect the speed of the main body by the rotation of the drive wheel, stop the control of the drive motor,
In the non-dedicated traveling route mode in which the non-dedicated traveling route is operated without the guide rails or current collecting rails, the traveling direction obtained with the magnetic sensor arranged on the magnetic belt installed along the non-dedicated traveling route The rudder angle of the rudder angle control unit of the steering unit is controlled based on the angle of the main body, and the frictional force is obtained so that the pressing force of the pressing force control unit can be changed by the driving wheel. Control to pressure, stop control of the drive motor,
During the autonomous operation mode in which the vehicle travels other than the dedicated traveling path and the non-dedicated traveling path, the steering angle of the steering angle control unit of the steering unit is controlled to be fixed at an angle x with respect to the traveling direction of the main body, and the push The pressing force of the pressure control unit is once released, and after the rudder angle is fixed at an angle x, the pressure is controlled to a pressure at which a frictional force capable of transmitting the driving force of the driving wheels to the travel path is obtained, and the driving motor A steering unit controller for speed control to the operation speed of the main body in the autonomous operation mode ,
A levitation type moving body characterized by comprising: The dedicated traveling path or non-dedicated traveling path installed on each of a plurality of floors, and an elevator car that moves up and down in an elevator hoistway connecting the floors,
When entering the elevator car from either the dedicated road or the non-dedicated road and when leaving the elevator car to either the dedicated road or the non-dedicated road, the steering unit 2. The floating moving body according to claim 1, wherein control is performed during operation mode .

Images