JP5066746B2 - Inverted pendulum type four-wheel travel device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an inverted pendulum type four-wheeled traveling device, capable of longitudinal movement, turning at an as-is status and lateral movement without changing a vehicle direction, and a sufficient level difference riding force even when a level difference exists during longitudinal movement or lateral movement. <P>SOLUTION: First to fourth wheels 10a to 10d of omnidirectional wheels are supported on a device frame 20 in such a layout that contact points of the respective wheels are arranged in order on the identical straight line. The device frame 20 is provided on an inverted pendulum type oscillating with the axle lines of the first to fourth wheels as the rotational center. In plan view of the first, second, third and fourth wheels, the other end side is brought near to open one end side. Drive motors 15a to 15d are mounted on the first to fourth wheels. Moreover, there is also provided a controller 40 for controlling the drive motors based on an inverted pendulum type control model by inputting a signal of an inclination angle sensor 41 which detects an inclination angle of the device frame 20. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to an inverted pendulum type four-wheel travel device that can move not only in the front-rear direction but also in the lateral direction without changing the orientation of the device itself.

  Two-wheel traveling devices and three-wheel traveling devices are known as conventional inverted pendulum type traveling devices. The inverted pendulum type cart robot described in Patent Document 1 is a two-wheel travel device, and includes main wheels in which axles are arranged on the same straight line on the left and right sides of the cart body, and motors corresponding to the wheels, The tilt angular velocity signal of the cart body detected by the gyro sensor located at the position of the cart body in the tilting direction is input to the cart controller equipped with the cart body, and the cart controller calculates the inverted pendulum control model and sends the command signal. It is the structure which outputs to each motor and drives the main wheel which each motor respond | corresponds.

  The coaxial two-wheeled vehicle described in Patent Document 2 is an inverted pendulum type two-wheel travel device, which includes wheels at both ends of a wheel shaft, a base that can be tilted on the wheel shaft, and a control device provided at the base on each wheel. An operation command based on an inverted pendulum control model is sent to a corresponding motor, and each motor drives a corresponding wheel.

  The three-wheel travel device described in Patent Document 3 is an inverted pendulum type, and the first wheel, the second wheel, and the third wheel are freely rotatable on each rotation shaft disposed along the outer periphery of the wheel. The first wheel and the second wheel are arranged such that the axles are on the same straight line, and the third wheel is the first wheel. Between the first wheel and the second wheel and the axle is disposed on a horizontal straight line perpendicular to the axle extension line of the first wheel and the second wheel, the first wheel, the second wheel and the third wheel. Each of the wheels is provided with a wheel-in motor, and the control device sends an operation command based on the inverted pendulum control model to each wheel, and drives the first wheel and the second wheel when the third wheel is driven. A configuration in which the first wheel and the second wheel are not driven when the third wheel is driven without being driven. A.

JP 2004-345030 A JP 2005-1554 A JP 2009-40165 A

However, the inverted pendulum type two-wheel travel device described in Patent Documents 1 and 2 is different between a moving method for moving a short distance and a moving method for moving a long distance.
First, as shown in FIG. 12, when moving from the position A to the position B, which is a short distance in the right lateral direction, from the position A to the position C at the back corresponding to the intermediate position between the positions A and B. The moving method is to move backward while changing the direction and then move forward from the position C to the position B. Therefore, the problem is that the rear space is necessary and that it is necessary to change the direction along the correct route while keeping a balance when moving backward and forward.
Next, as shown in FIG. 13, when moving to the position D, which is a long distance from the position A to the right, turn 90 degrees clockwise at the position A and then move toward the position D. Go straight and turn 90 degrees counterclockwise when you reach position D. Therefore, it is necessary to accurately perform the 90-degree turn at the position A, it is necessary to accurately stop at the position D by linear movement, and the 90-degree turn at the position D must be accurately performed. Can be cited as a problem.
As can be seen from the above two moving methods, the inverted pendulum type two-wheeled mobile body according to Patent Documents 1 and 2 is difficult to maneuver because it needs to be turned back when moving in the lateral direction, and safety is also a concern. I was using it.

  On the other hand, the inverted pendulum type three-wheel travel device described in Patent Document 3 has a feature that, when it is desired to move in the lateral direction, it can be moved in the lateral direction as it is and no turnover is required. However, in places where it is necessary to overcome the step when moving forward and backward with the first wheel and the second wheel, the third wheel is composed of omnidirectional wheels, but the step overcoming force is small, so smooth forward and backward movement is achieved. Since there is a possibility that it may not be possible, it has been limited to use indoors where there is no step.

  The present invention has been made in view of the above points. In addition to being able to move forward and backward and turn at the same position, the present invention can be moved laterally without changing the direction of the vehicle body. It is an object of the present invention to provide an inverted pendulum type four-wheel travel device that has sufficient step overcoming force even when there is a step, and is easy to control.

In order to achieve the above object, the inverted pendulum control type four-wheel travel device of the present invention is an omnidirectional wheel that is provided with a rotating body that is freely rotatable on each rotating shaft arranged along the outer periphery of the wheel and can move in all directions. The first to fourth wheels are configured, and the first to fourth wheels are supported by the device frame in an arrangement in which the grounding points of the wheels are sequentially arranged on the same straight line, and the device frame is 1 to 4 are provided in an inverted pendulum type that swings around the axle of the fourth wheel, and the first wheel and the second wheel, and the third wheel and the fourth wheel are arranged at one end in plan view. The drive motor which drives each of the 1st-4th wheel while the other end side is open and the other end side adjoins in plan view, while the other end side is open in proximity. With a tilt angle sensor signal to detect the tilt angle of the device frame Characterized by comprising a controller for controlling the drive motor on the basis of the inverted pendulum type control model of Te.
The drive motor is preferably a wheel-in motor incorporated in each of the first to fourth wheels in order to realize a small and compact inverted pendulum control type four-wheel travel device.

  When the driver gets on and switches on, the controller performs inverted pendulum control and stores the stop state. In order to drive forward, the controller tilts the handle shaft, which is the driving instruction means, or inputs a forward driving instruction signal via the lever handle, etc., which is the driving instruction means. Based on the input, a required calculation including the inverted pendulum control is performed, and a control signal for advancing the first to fourth wheels is output to each drive motor. As a result, the first to fourth wheels rotate forward at the required equal speed, and at this time, the first to fourth wheels cancel the lateral component speeds and travel forward at the forward component speeds.

  When the driver returns the handle shaft or inputs a travel stop instruction signal via a lever handle or the like from the forward state, the brakes provided for each drive motor are applied, and the first to fourth wheels travel forward. To stop.

  When the driver tilts the handle shaft backwards or inputs an instruction signal for reverse travel via the lever handle, the controller performs a required calculation taking into account the inverted pendulum control based on the input of the instruction signal. A control signal for moving the first to fourth wheels backward is output to each drive motor. As a result, the first to fourth wheels rotate backward at the required equal speed, and at this time, the first to fourth wheels cancel each other in the lateral lateral component speed and travel backward at the reverse component speed.

  When the driver rotates the steering wheel to the right, the controller inputs a signal of the steering wheel rotation angle sensor, and a straight line connecting the ground contact points of the first to fourth wheels and a straight line connecting the ground contact point through the center of the handle shaft. The inverted pendulum control type four-wheel travel device rotates clockwise around the intersection of the perpendicular line perpendicular to the vertical axis. The counterclockwise rotation is performed by the controller controlling the first to fourth wheels in the opposite direction.

  When the driver tilts the steering wheel to the right, the controller inputs a signal of the steering wheel tilt angle sensor, forwardly rotates the first and third wheels, and reversely rotates the second and fourth wheels. The rotating bodies constituting the first to fourth wheels rotate, and the first to fourth wheels move right without changing direction at the combined rotation speed. The leftward movement without changing the direction is different from the rightward movement without changing the direction.

  When the driver turns the steering wheel to the right and tilts it to the lower right, the controller inputs signals from the steering wheel rotation angle sensor and the steering wheel inclination angle sensor, and rotates the first and third wheels at a large forward rotation speed. Further, the second and fourth wheels are rotated at a small forward rotational speed, whereby the rotating bodies constituting the second and fourth wheels are rotated respectively, and the inverted pendulum control type four-wheel traveling device is Turn right 30 ° to the right. As for the rightward and leftward movement in the diagonal direction without changing the direction, the operation is different from the rightward and leftward and rightward in the diagonal direction without changing the direction.

  The inverted pendulum control type four-wheel travel device of the present invention has a device frame, a triangular space between the first wheel and the second wheel, and a triangular space between the third wheel and the fourth wheel as a preferred embodiment. It can be set as the structure formed in the standing type | mold type | mold provided with the step which puts a foot on.

  The inverted pendulum control type four-wheel travel device of the present invention may be configured such that the device frame has a seat on the first to fourth wheels as another preferred embodiment.

  The inverted pendulum control type four-wheel travel device of the present invention is installed upright from the device frame in order to obtain good maneuverability due to weight shift in standing riding with respect to the inverted pendulum control when the device frame is configured to stand up. The first to fourth wheels are provided with a handle shaft that is displaced in a direction that is inclined with respect to a vertical plane, a tilt angle sensor is provided so as to detect an inclination angle of the handle shaft, and a controller includes: It is preferable to use an inverted pendulum type control for the drive motor corresponding to the fourth wheel.

  And, in order to obtain good steering maneuverability and driving operability when standing, a handle is provided at the upper end of the handle shaft so as to be T-shaped along the vertical direction of the first to fourth wheels in the arrangement direction. The handle is tiltable in the right and left directions from the horizontal state and can be returned to the horizontal state by elastic means, and further, the handle is rotated right and left within a certain angle within a horizontal plane and is elastic means. Can be returned to a horizontal state by a rotation angle sensor that detects the rotation angle of the handle and an inclination angle sensor that detects the tilt angle of the handle at the intersection of the handle shaft and the handle, In addition to performing the inverted pendulum type control, when the controller inputs a rotation angle sensor signal, the first to fourth wheel combined outputs are rotated clockwise or counterclockwise according to the signal. 1st to 4th When a drive signal is output to the drive motor corresponding to the wheel, and a tilt angle sensor signal is input, the combined output of the first to fourth wheels does not change the direction or changes direction according to the signal. It is preferable that the drive signal is output to the drive motors corresponding to the first to fourth wheels so that the vehicle travels leftward.

  The inverted pendulum control type four-wheel travel device of the present invention may be configured such that the device frame has a seat on the first to fourth wheels as another preferred embodiment.

  In the case of having a seat and being configured as a seated riding type, in order to obtain good getting on and off and to obtain good steering maneuverability and driving operability, it is shown in Patent Document 3 according to the inventor's invention. It is preferable to adopt a structure similar to the frame structure. That is, a seat is provided on the first to fourth wheels, the seat is supported by the lower device frame via the suspension device, and the seat is positioned near the installation surface when sitting on the seat. When the inverted pendulum type control is performed, it is preferable to have a configuration including a movable step located upward from the vicinity of the installation surface.

  According to the present invention, in addition to being able to move forward and backward and turn as it is, it is possible to move in the lateral direction without changing the direction of the vehicle body, and even if there is a step during forward and backward movement and lateral movement, the wheel becomes a step. It is possible to provide an inverted pendulum type four-wheel travel device that does not become parallel and has sufficient step overcoming force and is easy to control.

1 is a perspective view showing an inverted pendulum control type four-wheel travel device according to a first embodiment of the present invention. It is a front view of the four-wheeled travel apparatus of FIG. It is a top view of the four-wheeled traveling apparatus of FIG. It is the schematic front view which carried out the notch cross section about the 1st-4th wheel of the four-wheel drive apparatus of FIG. It is a block diagram of the control system of the four-wheel drive apparatus of FIG. (A) is a perspective view of the intersection part of the handle shaft and handle | steering-wheel of the four-wheel drive apparatus of FIG. 1, (b) is a principal part longitudinal cross-sectional view. It is a figure for demonstrating the forward drive of the four-wheel drive apparatus of FIG. It is a figure for demonstrating the reverse drive of the four-wheel drive apparatus of FIG. It is a figure for demonstrating the operation | movement rotated right by the four-wheel drive apparatus of FIG. It is a figure for demonstrating the operation | movement made to go right without changing direction with the four-wheel drive apparatus of FIG. It is a figure for demonstrating the operation | movement made to move diagonally right without changing direction in the four-wheeled travel apparatus of FIG. It is a perspective view which shows the inverted pendulum control type four-wheel drive apparatus which concerns on 2nd Embodiment of this invention. It is a figure for demonstrating operation | movement of the well-known inverted pendulum type two-wheeled travel apparatus described in patent document 1,2. It is a figure for demonstrating other operation | movement of the well-known inverted pendulum type two-wheeled travel apparatus described in patent document 1,2.

Embodiments of an inverted pendulum control type four-wheel travel device according to the present invention will be described below with reference to the drawings.
[First Embodiment]
As shown in FIGS. 1 to 3, the inverted pendulum control type four-wheel travel device 1 of this embodiment includes first to fourth wheels 10 a to 10 d, a device frame 20, drive motors 13 a to 13 d, and a controller. 40, a tilt angular velocity sensor 41, a handle rotation angle sensor 42, a handle tilt angle sensor 43, and auxiliary legs 44a and 44b, in particular, a handle shaft 31, a handle 32, and steps 24a and 24b described later. , And is configured to stand up.

  As shown in FIG. 3, the first to fourth wheels 10 a to 10 d are supported by the device frame 20 in an arrangement in which the ground contact points P1, P2, P3, and P4 of the wheels with respect to the flat ground are arranged in order on the same straight line L. The As for 1st-4th wheel 10a-10d, each upper half is protected by safety covers 15a-15d. The safety covers 15a to 15d are detachably fixed to steps 24a and 24b described later.

  The first wheel 10a and the second wheel 10b, and the third wheel 10c and the fourth wheel 10d are close to one end side (front side in the traveling direction) and open the other end side (rear side in the traveling direction) in plan view. In addition, the second wheel 10b and the third wheel 10c are open at one end side (front side in the traveling direction) and close to the other end side (rear side in the traveling direction) in plan view. Although not limited to the right, in this embodiment, when a handle shaft 31 (described later) is vertical, as shown in FIG. Assume that the distances S1, S2, and S3 are equal.

As shown in FIG. 4, omnidirectional wheels that can move in all directions are employed for the first to fourth wheels 10 a to 10 d. The omnidirectional wheel is disclosed in, for example, Japanese Patent Application Laid-Open No. 2002-137602, Japanese Patent Application Laid-Open No. 2003-154802, Japanese Patent Application Laid-Open No. 2004-344289, and the like. . As shown in FIG. 4, the omnidirectional wheel is grounded to the active rotation of the entire wheel by providing a rotating body 12 that is freely rotatable on each rotating shaft 11 arranged along the outer periphery of the wheel. It has a function capable of moving in all directions by the passive rotation of the rotating body 12. Each rotating body 12 is formed in a cup shape in which the diameter of the front end portion is smaller than the diameter of the rear end portion. As a result, when the wheel itself is about to move in the axle direction side (that is, the X side in the drawing), the rotating body 12 that is in contact with the ground or the like rotates around the rotation shaft 11, thereby removing the ground or the like. The wheels can smoothly move in the lateral direction without rolling and turning the wheels themselves.
The first to fourth wheels 10a to 10d are configured to have the same dimensions and the same shape, and are attached to the device frame 20 so that the centers of each rotation have the same height. Each wheel 10a-10d contacts the ground with the traveling device 1 placed on a flat ground.

  The first to fourth drive motors 13a to 13d are wheel-in motors incorporated in the respective wheels of the first to fourth wheels 10a to 10d, and each of the first to fourth wheels 10a to 10d is driven to travel. To do. Various types of wheel-in motors have been known in the past, and various types of wheel-in motors can be applied in the present embodiment. In particular, the wheel-in motor includes a stator and a rotor that rotates around the stator. It is desirable to use a suitable device. Specifically, the stator is fixed to the apparatus frame 20, and the first to fourth wheels 10a to 10d are coaxially attached to a rotor that rotates around the stator. With such a configuration, each wheel rotates together with the rotor.

  The apparatus frame 20 includes a main frame 21, a left subframe 22a, a right subframe 22b, a left bracket 23a, a right bracket 23b, a right sector step 24a, and a left sector step 24b. And a central device installation bracket 24c. The main frame 21, the left and right subframes 22a and 22b, and the left and right brackets 23a and 23b are rigid frames. The left bracket 23a is attached to be rotatable with respect to the frame axis of the left subframe 22a, and the right bracket 23b is attached to be rotatable with respect to the frame axis of the right subframe 22b. As a result, the first wheel 10a and the second wheel 10b are grounded at two points independently of the third wheel 10c and the fourth wheel 10d, and the third wheel 10c and the fourth wheel 10d are Since the first wheel 10a and the second wheel 10b are two-point grounded independently, the first to fourth wheels 10a to 10d always follow the road surface irregularities and always travel four wheels, so that Can be expected.

  The main frame 21 extends horizontally so that one end corresponds to the vicinity of the front side of the first wheel 10a and the other end corresponds to the vicinity of the front side of the fourth wheel 10d on the front side in the traveling direction.

  The sub-frame 22a is fixed at the front end to the main frame 21, and extends horizontally between the first wheel 10a and the second wheel 10b rearward at a height substantially equal to the axle. The sub-frame 22b has a tip fixed to the main frame 21, and extends rearward between the third wheel 10c and the fourth wheel 10d.

  The left bracket 23a and the right bracket 23b are fixed to the corresponding subframes 22a or 22b, respectively, and can rotate the first wheel 10a and the second wheel 10b or the third wheel 10c and the fourth wheel 10d. I support it. In this embodiment, the first to fourth drive motors 13a to 13d provided for the respective wheels employ the wheel-in motor of the type described above, and the brackets 23a and 23b support the motor body. Configured.

  Steps 24a and 24b are received and fixed to the subframes 12a and 12b extending backward in the triangular space between the first wheel and the second wheel and the triangular space between the third wheel and the fourth wheel, The auxiliary legs 44a and 44b of the electric power cylinder structure are fixed to the subframes 12a and 12b below the steps 24a and 24b. Although the detailed structure of the auxiliary legs 44a and 44b is not shown, before the inverted pendulum control is performed, the piston is extended downward by the spring provided in the cylinder, and the lock means locks the movement of the piston. When the inverted pendulum control is performed, the locking means is unlocked and the piston is contracted. Thereby, it is possible to stand on the steps 24a and 24b. When the inverted pendulum control is finished, the piston extends downward, and then the locking means locks the movement of the piston.

  The equipment installation bracket 24c is provided in a triangular area between the second wheel 10b and the third wheel 10c and supported by the main frame 21. As shown in FIG. 3, a controller 40, motor drivers 14a to 14d for generating drive signals for the first to fourth drive motors 13a to 13d, and a battery 45 are installed on the device installation bracket 24c. .

  The device frame 20 is in a state in which the axle directions of the first wheel 10a and the second wheel 10b and the axle directions of the third wheel 10c and the fourth wheel 10d are different from each other by 60 °. These wheels 10a to 10d are provided so as to be able to perform an inverted pendulum motion by pivotally supporting each axle.

  The mounting relationship between the device frame 20 and the first to fourth wheels 10a to 10d is such that when the handle shaft 31 stands vertically, the opening angle between the wheels viewed in plan is 60 °, and As described above, since the ground contact distances S1, S2, and S3 between adjacent wheels are set to be equal to each other, when the handle shaft 31 changes from the vertical state to the forward tilt state during the inverted pendulum travel, the distance S1 = distance S3> The ground contact distances S1, S2, and S3 are changed in accordance with the change in the tilt angle of the handle shaft 31 because of the relationship of the distance S2. However, even if the ground contact distances S1, S2, and S3 are changed, the ground contact points P1, P2, P3, and P4 of the first to fourth wheels 10a to 10d are continuously arranged in order on the same straight line L. .

  The handle shaft 31 is made of, for example, a stainless steel pipe, and is fixed in a state where the handle shaft 31 rises vertically from the center of the upper surface of the main frame 21. The tilt angular velocity sensor 41 is provided slightly above the controller 40 and fixed to the handle shaft 31 and detects the tilt angular velocity of the handle shaft 31. A gyro sensor is used as the falling angular velocity sensor 41.

  As shown in FIGS. 6A and 6B, the handle 32 extends in parallel with the lower main frame 21 at the upper end of the handle shaft 31, and the arrangement direction of the first to fourth wheels 10a to 10d. It is provided so as to be T-shaped along the vertical surface, and has grips 33 and 33 at both ends.

  The handle 32 penetrates the upper end of the handle shaft 31 horizontally and is held so as not to move in the axial direction. At the intersection of the handle shaft 31 and the handle 32, specifically, at the portion where the handle 32 passes through the handle shaft 31, a mechanical mechanism 34 for taking out the horizontal rotation and vertical rotation of the handle 32 is provided.

  The mechanical mechanism 34 includes cylindrical portions 34a and 34a projecting outward on both side portions of the handle shaft 31 through which the handle 32 passes, and holds a rubber ring 34b in each cylindrical portion 34a. The handle 32 extends horizontally through the handle shaft 31 and is supported at both ends in a horizontal state by rubber rings 34b and 34b.

  Therefore, the handle 32 can be rotated right or left within a certain angle within a horizontal plane as shown by an arrow M in FIG. When the force applied to is released, the elastic return force of the rubber rings 34b, 34b can be returned in a direction perpendicular to the front direction in plan view. Furthermore, the handle 32 can be tilted rightward or leftward from the horizontal state as shown by an arrow N in FIG. 1 by depressing the grip 33 on the right or left side, and when the force applied to the grip 33 is released, the rubber is released. The ring 34b, 34b can be returned to a horizontal state by the elastic return force.

  Further, the mechanical mechanism 34 includes a short pipe 34c surrounding the handle 32 in the space of the handle shaft 31, an upper fixing plate 34d fixed to the inner surface of the handle shaft 31 on the upper side and the lower side of the short pipe 34c, and a lower side. Fixed plate 34e, upper pivot shaft 34f whose lower end is fixed at the center of the upper surface of short tube 34c and whose upper end is rotatably passed through the central hole of upper fixed plate 34d, and its upper end is fixed at the center of the lower surface of short tube 34c The lower pivot shaft 34g is rotatably supported in the center hole of the lower fixing plate 34e, and the handle 32 is fixed to the center of the length of the handle 32 and protrudes horizontally from one side surface to be opened in the short tube 34c. A horizontal rotation shaft 34h that is rotatably passed through the hole.

  A handle rotation angle sensor 42 is provided on the upper fixed plate so that rotation of the upper pivot shaft 34f is input, and a handle inclination angle sensor 43 is a short tube so that rotation of the horizontal rotation shaft 34h is input. 34c is provided on the outer surface.

  Therefore, when the handle 32 is turned right or left, this rotation is transmitted to the short pipe 34c and the upper pivot shaft 34f via the horizontal rotation shaft 34h and is input to the handle rotation angle sensor 42. Therefore, the handle rotation angle sensor 42 detects the rotation angle of the handle 32 with the shaft center line of the handle shaft 31 as the rotation axis.

  Further, when the handle 32 is tilted to the right or left, this tilt angle is transmitted to the horizontal rotation shaft 34h and further input to the handle tilt angle sensor 43. Therefore, the handle tilt angle sensor 43 is perpendicular to the shaft center line of the handle shaft 31 ( With respect to the axis of the horizontal rotation shaft 34h), the tilt angle of the handle 32 in the left direction or the right direction is detected.

  In the inverted pendulum control type four-wheel travel device 1 of this embodiment, when the handle shaft 31 is held vertically, the center of gravity of the constituent parts excluding the first to fourth wheels 10a to 10d has the first to fourth. It is assumed that the position is set, for example, several centimeters behind the circle face passing through a straight line connecting the grounding points of the wheels 10a to 10d. Accordingly, in the inverted pendulum control type four-wheel travel device 1 of this embodiment, when the hand is released from the state in which the handle shaft 31 is held vertically, the handle shaft 31 is tilted backward by the gravitational action. Since the pistons of the auxiliary legs 44a and 44b are extended below the spring force of the spring provided in the cylinder and the movement of the piston is locked by the locking means, the handle shaft 31 is held vertically, and the left and right steps The drivers 24a and 24b are kept substantially horizontal so that the driver can stand on the steps 24a and 24b.

The function of the controller 40 will be described with reference to FIG.
(1) When the driver gets on the start switch (not shown) in Steps 24a and 24b, the controller 40 supplied with power from the battery 45 inputs the signal of the tilt angular velocity sensor 41 that detects the tilt angle of the device frame 20. Based on the inverted pendulum type control model, the inverted pendulum type control is performed on the drive motors 13a to 13d incorporated in the wheels of the first to fourth wheels 10a to 10d via the motor drivers 14a to 14d.
(2) At the same time as starting the inverted pendulum control, the controller 40 unlocks the locking means of the auxiliary legs 44a and 44b and causes the piston to contract against the spring bias.
(3) At the start of control, the controller 40 performs the inverted pendulum type control so that the first to fourth wheels 10a to 10d do not move forward or backward.
(4) If the driver falls the handle shaft 31 forward from the neutral angle (stop angle) due to weight shift, the first to fourth wheels 10a to 10d travel forward, and the handle shaft 31 is moved from the neutral angle. If the wheel is pulled forward (tilt backward), the first to fourth wheels 10a to 10d travel backward.
(5) After the handle shaft 31 has reached the neutral angle, if the driver rotates the handle 32 to the right or left, the handle rotation angle sensor 42 inputs a signal corresponding to this rotation to the controller 40. The controller 40 controls the rotation of the first to fourth wheels 10a to 10d so as to rotate clockwise or counterclockwise.
(6) After the handle shaft 31 reaches the neutral angle, if the driver tilts the handle 32 to the right or left, the handle tilt angle sensor 43 inputs a signal corresponding to the tilt angle to the controller 40, The controller 40 controls the rotation of the first to fourth wheels 10a to 10d so as to advance in the left direction or the right direction.

  Subsequently, by the first to fourth wheels 10a to 10d using omnidirectional wheels, forward, backward, right rotation, left rotation, rightward without direction change, leftward without direction change, diagonal rightward and diagonally leftward Will be described in detail with reference to FIGS.

[Forward travel]
As shown in FIG. 7A, when the driver P gets on and switches on, the controller 40 performs the inverted pendulum control, and the center of gravity position of the combined weight of the device not including the wheel and the weight of the driver is four wheels. It is determined by an inverted pendulum control algorithm so that it lies in a vertical plane passing through the ground line. In this case, when the driver gets on the steps 24a and 24b, the total center of gravity position of the device components excluding the first to fourth wheels 10a to 10d and the driver's weight shifts backward. No. 40 performs inverted pendulum type control so that the position of the center of gravity is on the face of a circle passing through a straight line connecting the grounding points of the first to fourth wheels 10a to 10d by calculation. Accordingly, the controller 40 stores a state where the handle shaft 31 is tilted to the required front side from the vertical state as a stopped state.
Then, as shown in FIG. 7B, if the driver P tilts the handle shaft 31 forward from the neutral angle (stop angle) due to weight shift, the change to the inclination angle α1 and the inclination angle α1 at this time is achieved. The tilt angular velocity sensor 41 detects the rate, that is, the tilt angular velocity, and the sensor signal is input to the controller 40. The controller 40 performs a required calculation in consideration of the inverted pendulum control and outputs a control signal for advancing the first to fourth wheels 10a to 10d to the servo motor, and is driven by the motor drive signal output by the servo motor. The motors 13a to 13d rotate at a required speed.
As shown in FIG. 7C, the controller 40 determines the rotational speeds of the rotating bodies 12 at the ground contact positions of the first to fourth wheels 10a to 10d according to the inclination angle α1 and the inclination angular speed of the handle shaft 31. In consideration of H1xy, H2xy, H3xy, and H4xy, the first to fourth wheels 10a to 10a are set so that the y component speeds H1y, H2y, H3y, and H4y in the forward direction of the first to fourth wheels 10a to 10d are equal. 10d forward rotational speeds H1, H2, H3, H4 are determined and a control signal is output. Accordingly, the inverted pendulum control type four-wheel travel device 1 travels forward at a y-component speed H1y (= H2y, H3y, H4y) in the forward direction.

[Backward travel]
As shown in FIG. 8 (a), the inverted pendulum control type four-wheel travel device 1 pulls the handle 32 backward by moving the body weight, as shown in FIG. 8 (a). When the angle is smaller than the neutral angle, the controller 40 determines that the input from the falling angular velocity sensor 41 during the output of the forward signal is reverse, and applies brakes provided to the drive motors 13a to 13d. Call.
In addition, as shown in FIG. 8A, the inverted pendulum control type four-wheel travel device 1 pulls the handle 32 rearward by moving the body weight as shown in FIG. When the angle becomes smaller than the neutral angle, the controller 40 outputs a reverse signal. That is, when the controller 40 inputs the tilt angle and the tilt angular velocity in the negative direction detected by the tilt angular velocity sensor 41, the controller 40 corresponds to the tilt angular velocity so that all of the first to fourth wheels 10a to 10d rotate backward. It controls so that it may become equal rotation speed.
As shown in FIG. 8B, the controller 40 rotates the rotating body 12 at each contact position of the first to fourth wheels 10a to 10d according to the inclination angle −α1 and the inclination angular velocity of the handle shaft 31. In consideration of the speeds H5xy, H6xy, H7xy, and H8xy, the first to fourth wheels 10a are set so that the y component speeds H5y, H6y, H7y, and H8y in the reverse direction of the first to fourth wheels 10a to 10d are equal. -10d reverse rotational speed H5, H6, H7, H8 is determined and a control signal is output. Accordingly, the inverted pendulum control type four-wheel travel device 1 travels backward at the y-component speed H5y (= H6y, H7y, H8y) in the reverse direction.

〔Right rotation〕
When the inverted pendulum control type four-wheel travel device 1 rotates the handle 32 clockwise as shown in FIG. 9A from the stop state shown in FIG. 7A, this right rotation is changed to the handle rotation angle. The sensor 42 detects and a sensor signal is input to the controller 40. 9B, the controller 40 has a straight line L connecting the grounding points of the first to fourth wheels 10a to 10d and a straight line passing through the center of the handle shaft 31 and connecting the grounding point in plan view. A control signal is output so that the inverted pendulum control type four-wheel travel device 1 rotates clockwise with an intersection Ro of a perpendicular line perpendicular to L as the center of rotation. The controller 40 makes the first wheel 10a and the fourth wheel 10d turn on the circle Rad at tangential speeds H9y and H12y (= H9y), and the second wheel 10b and the third wheel 10c move on the circle Rcd. Considering the rotational speeds H9xy, H10xy, H11xy, H12xy of the rotating body 12 of each grounding position of the first to fourth wheels 10a to 10d so as to turn at tangential speeds H10y, H11y (= H10y), the first -Calculates the actual rotational speeds H9, H10, H11, and H12 of the fourth wheels 10a to 10d, and outputs a drive control signal.
The left rotation is different from the right rotation and is not described here.

[Right turn without direction change]
When the inverted pendulum control type four-wheel travel device 1 tilts the steering wheel 32 to the right as shown in FIG. 10A from the stopped state shown in FIG. The angle sensor 43 detects and a sensor signal is input to the controller 40. As shown in FIG. 10B, the controller 40 rotates the first wheel 10a forward at the actual rotational speed H13, reversely rotates the second wheel 10b at the actual rotational speed H14 (= | H13 |), The wheel 10c is rotated forward at an actual rotational speed H15 (= H13), and the fourth wheel 10d is controlled to rotate backward at an actual rotational speed H16 (= | H13 |). At this time, | H13 | = | H14 | = | H15 | = | H16 |. Then, with the actual rotation of the first to fourth wheels 10a to 10d, the rotating bodies 12 constituting the first to fourth wheels 10a to 10d rotate at H13xy, H14xy, H15xy, and H16xy, respectively. At this time, | H13xy | = | H14xy | = | H15xy | = | H16xy |. Accordingly, the first to fourth wheels 10a to 10d rotate at the combined rotational speeds H13g, H14g, H15g, and H16g. At this time, H13g = H14g = H15g = Hg. That is, the inverted pendulum control type four-wheel drive device 1 moves right at a speed of H13g without changing its direction.
Since the leftward movement without changing the direction is different from the rightward movement without changing the direction, the description is omitted.

[Right direction without changing direction]
When the inverted pendulum control type four-wheel drive device 1 is tilted downward from the stop state shown in FIG. 7A while turning the handle 32 clockwise as shown in FIG. Are detected by the handle rotation angle sensor 42 and the handle tilt angle sensor 43, and both sensor signals are input to the controller 40. Based on the signal input from the sensors 42 and 43, the controller 40 moves the first to fourth wheels 10a to 10d at actual rotational speeds H17, H18, H19, and H20, respectively, as shown in FIG. Control to rotate forward. At this time, | H18 | = | H20 |, | H19 | = | H17 |. Further, the combined rotational speeds H18g and H20g of the rotating body 12 at the ground contact position of the second and fourth wheels 10b and 10d and the combined rotational speeds H18g and H20g are the actual rotational speeds of the first and third wheels 10a and 10c. It is set to be equal to H17 and H19. As a result, the inverted pendulum control type four-wheel travel device 1 moves to the right by 30 ° to the right with respect to the forward direction.
The description of the rightward and leftward movement in the diagonal direction without changing the direction will be omitted because the operation is different from the rightward and leftward movement in the diagonal direction without changing the direction.

  In the above description of the operation, the magnitude of the rotation speed is output from the controller 40 according to the tilt angle and tilt angle speed of the handle shaft 31, the rotation angle of the handle 32, and the tilt angle.

[Second Embodiment]
As shown in FIG. 12, an inverted pendulum control type four-wheel travel device 1A of this embodiment is provided in first to fourth wheels 10a to 10d, a device frame 20A having a seat 202, and a frame of each wheel. Drive motor (not shown in the figure), a controller 40A, a tilt angular velocity sensor 41 provided on the lower surface of the seat 202, auxiliary legs 44c and 44d provided on the lower surface of the seat 202, and a control lever 46. , And is configured.
The device frame 20A includes base frames 201a and 201b that rise between the first wheel 10a and the second wheel 10b, a seat 202, and a step 203. Although not shown, the base frames 201a and 201b are provided with the left bracket 23a and the right bracket 23b shown in the first embodiment. In this embodiment, the auxiliary legs 44c and 44d are provided in the front-rear arrangement, so that the level of the seat 202 is maintained during non-driving.
In this embodiment, the handle shaft 31 and the handle 32 of the first embodiment are not provided. Further, the steering wheel rotation angle sensor 42 and the steering wheel tilt angle sensor 43 are not provided, and the functions of these two sensors are processed by the input operation of the control lever 46. The controller 40A inputs the forward, backward, right rotation, left rotation, rightward / leftward movement and diagonal rightward / leftward movement without direction change performed by the controller 40 of the first embodiment described above to the control lever 46. Based on the operation.

  In the second embodiment, an inverted pendulum control type four-wheel travel device having a one-seater seat is shown. However, the distance between the second wheel 10b and the third wheel 10c is increased to provide a two-seater seat. It can be configured as an inverted pendulum control type four-wheel travel device.

Although detailed above, the present invention can be implemented in various forms without departing from the spirit of the present invention.
The traveling device of the present invention can be applied as a means for moving industrial, academic, and household appliances, devices, machines, and toys. For example, the traveling device can be applied as a leg of a mobile robot. It can also be used as a means for moving people, a transporting tool for transporting things, a moving means for moving machines for agricultural work, and a mechanism for moving playground equipment at leisure facilities such as amusement parks and theme parks. is there. Furthermore, the present invention can also be used for assistance and welfare machines and appliances used by elderly people and persons with disabilities.

DESCRIPTION OF SYMBOLS 1,1A Inverted pendulum control type four-wheel traveling apparatus 10a 1st wheel 10b 2nd wheel 10c 3rd wheel 10d 4th wheel 11 Rotating shaft 12 Rotating body 13a 1st drive motor 13b 2nd drive motor 13c Third drive motor 13d Fourth drive motor 14a to 14d Motor driver 20, 20A Device frame 24a, 24b Step 201a, 201b Base frame 202 Seat 203 Step 31 Handle shaft 32 Handle 34 Mechanical mechanism 40, 40A Controller 41 Inclination angular velocity Sensor 42 Handle rotation angle sensor 43 Handle tilt angle sensor 44a to 44d Auxiliary leg 45 Battery 46 Control lever

Claims (9)

  A plurality of rotating shafts arranged along the outer periphery of the wheel have first to fourth wheels configured with omnidirectional wheels that include a freely rotating body and can move in all directions. The wheels are supported by the device frame in such a manner that the grounding points of the wheels are arranged in order on the same straight line, and the device frame swings around the axles of the first to fourth wheels. Further, the first wheel and the second wheel, and the third wheel and the fourth wheel are provided in a pendulum type, and one end side is close and the other end side is open in a plan view, and the second wheel and the third wheel are open. Of the tilt angle sensor for detecting the tilt angle of the device frame, the other end being close and the other end being open in the plan view, provided with a drive motor for driving each of the first to fourth wheels. Based on the inverted pendulum type control model by inputting the signal, the above drive mode Characterized by comprising a controller for controlling the motor, an inverted pendulum-controlled four-wheel traveling device.   The apparatus frame is formed in a standing riding type including a step of placing a foot in a triangular space between the first wheel and the second wheel and a triangular space between the third wheel and the fourth wheel. The inverted pendulum control type four-wheeled travel device according to claim 1, wherein the inverted pendulum control type four-wheel travel device is configured. A handle shaft that is erected from the device frame and swings around a rotation center of the device frame with respect to the first to fourth wheels;
The tilt angle sensor is provided to detect the tilt angle of the handle shaft;
The inverted pendulum control type four-wheel travel device according to claim 1 or 2, wherein the controller is configured to perform the inverted pendulum type control on a drive motor corresponding to the first to fourth wheels. A handle is provided at the upper end of the handle shaft so as to be T-shaped along the vertical direction of the arrangement direction of the first to fourth wheels,
The handle is tiltable in the right and left directions from the horizontal state and can be returned to the horizontal state by elastic means, and further, is rotated right and left within a certain angle within a horizontal plane and is elastic means. Can be returned to the horizontal state by
A handle rotation angle sensor that detects a rotation angle of the handle and a handle tilt angle sensor that detects a tilt angle of the handle at an intersection of the handle shaft and the handle,
In addition to performing the inverted pendulum type control, when the controller inputs a signal of the handle rotation angle sensor, the combined output of the first to fourth wheels is a right rotation or a left rotation according to the signal. When a drive signal is output to the drive motors corresponding to the first to fourth wheels, and when a signal of the steering wheel tilt angle sensor is input, the first to fourth wheels according to the signal. The driving signal is output to the driving motors corresponding to the first to fourth wheels so that the combined output of the vehicle is rightward without changing direction or leftward without changing direction. An inverted pendulum control type four-wheel traveling device as described in 1.   2. The inverted pendulum control type four-wheeled vehicle according to claim 1, wherein a seat is provided on the first to fourth wheels, and the seat is supported by the lower device frame via a suspension device. 3. Traveling device. 6. The inverted pendulum control type four-wheel travel device according to claim 5, wherein the inverted pendulum control type four-wheel travel device is configured to include a movable step that is positioned so as to descend from the vicinity of the ground plane and to perform an inverted pendulum type control. . The tilt angle sensor is provided to detect an inclination angle of the seat with respect to a horizontal plane;
The inverted pendulum according to claim 5 or 6 , wherein the controller inputs the signal of the tilt angle sensor and performs the inverted pendulum type control on the drive motors corresponding to the first to fourth wheels. Control type four-wheel travel device.
Provided with a handle for instructing one of four directions of a right rotation or a left rotation and a forward movement while converting to a right direction or a left direction at a position that can be operated by an operator sitting on the seat;
A handle rotation angle sensor that detects a right rotation or a left rotation indicated by the handle, and a handle tilt angle sensor that detects an instruction to move forward while converting to the right direction or the left direction indicated by the handle,
In addition to performing the inverted pendulum type control, when the controller inputs a signal of the handle rotation angle sensor, the combined output of the first to fourth wheels is a right rotation or a left rotation according to the signal. When a drive signal is output to the drive motors corresponding to the first to fourth wheels, and when a signal of the steering wheel tilt angle sensor is input, the first to fourth wheels according to the signal. 8. The drive signal is output to the drive motor corresponding to the first to fourth wheels so that the combined output of the left or right direction does not change direction and moves rightward or leftward without changing direction. An inverted pendulum control type four-wheel traveling device as described in 1.   The inverted pendulum control type four-wheel travel device according to any one of claims 1 to 8, wherein the drive motor is a wheel-in motor incorporated in each of the first to fourth wheels.

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