JP5254190B2 - Inverted pendulum type charging system - Google Patents

Description

  The present invention relates to a charging system for charging a secondary battery provided in an inverted pendulum type moving body.

  A traveling unit comprising a pair of driving bodies respectively driven by separate electric motors, and one main wheel sandwiched between the pair of driving bodies and driven by receiving frictional force from the driving bodies. An inverted pendulum type moving body is known (for example, Patent Document 1). A main wheel according to Patent Document 1 is an endless annular ring body, and a plurality of the main wheels are arranged in the ring direction of the ring body, and each is driven so as to be rotatable around a rotation axis parallel to the tangential direction of the ring body And a driven roller is driven in contact with the driving body. When the driven roller rotates (rotates) around the rotation axis in the tangential direction of the annular body, the inverted pendulum type moving body obtains thrust in the left-right direction, and the driven roller rotates (revolves) in the ring direction of the annular body When doing so, the inverted pendulum type moving body obtains thrust in the front-rear direction.

  Such an inverted pendulum type moving body includes a secondary battery as a power source and needs to be charged according to the remaining amount of the battery. As a charging system for an inverted pendulum type moving body, for example, a battery charging system for an electric vehicle may be applied. For example, as a non-contact charging system, a primary coil connected to a charging power source is embedded in a parking space or the like, a secondary coil that can be opposed to the primary coil is provided at the lower part of the vehicle body, and the secondary coil is formed by electromagnetic induction. There is one that generates an induced current and charges an in-vehicle battery (for example, Patent Document 2).

International Publication No. 08/1327979 Pamphlet JP 2006-74868 A

  However, since the inverted pendulum type moving body cannot maintain an upright state in a non-operating state, a stand or the like that supports the inverted pendulum type moving body in a predetermined posture is required. It cannot be applied. Further, in any of a contactless charging system using electromagnetic induction and a contact charging system via a connector, the power supply coil and connector and the power receiving coil and connector are arranged at predetermined positions. It is necessary to maintain the inverted pendulum type moving body at a predetermined position and posture.

  The present invention has been made in view of the above background, and maintains an inverted pendulum type moving body in a non-operating state in a predetermined charging state and facilitates a charging operation. The purpose is to provide.

  In order to solve the above problems, a first invention of the present invention is a charging system (13, 150) for charging a secondary battery (25) provided in an inverted pendulum type moving body (10). A stand (11) having a support portion (93) abutting against the inverted pendulum type moving body to support the inverted pendulum type moving body in a non-operating state in a predetermined inclined standing state, A charging power source (130) and a power supply means (82, 152) provided on the support portion and receiving power supply from the charging power source, the inverted pendulum type moving body abuts on the support portion The portion has power receiving means (81) for receiving electric power from the power supply means and supplying current to the secondary battery.

  According to this configuration, since the inverted pendulum type moving body is supported by the support portion of the stand while leaning on, the user can lean the inverted pendulum type moving body on the stand while standing, Easy to place. In addition, since the power feeding unit and the power receiving unit are close to each other with the inverted pendulum type moving body supported by the support portion, it is easy to charge the secondary battery from the charging power source.

  In a second aspect based on the first aspect, the inverted pendulum type moving body extends in the vertical direction and includes a constricted portion (21A) in an intermediate portion in the vertical direction, and the support portion includes the inverted pendulum type. A pair of arms (96L, 96R) is provided at a position corresponding to the constricted portion in a state where the movable body is supported, and the constricted portion is disposed between the pair of arms.

  According to this configuration, since the constricted portion is caught by the arm, the inverted pendulum type moving body is supported by the stand in a stable state. Further, the relative position between the power feeding means and the power receiving means in a state where the inverted pendulum type moving body is supported by the stand can be made constant.

  According to a third aspect, in the second aspect, the pair of arms can approach and separate from each other, and the constricted portion is sandwiched between the pair of arms.

  According to this configuration, the inverted pendulum type moving body can be supported in a stable state by the stand, and the relative position between the power feeding means and the power receiving means in a state where the inverted pendulum type moving body is supported by the stand is further increased. It can be stabilized.

  According to a fourth invention, in any one of the first to third inventions, the power feeding unit includes a primary coil (82) that generates a magnetic field by a current supplied from the charging power source, and the power receiving unit. Has a secondary coil (81) for generating an induced current by the magnetic field generated by the primary coil.

  According to this configuration, by supporting the inverted pendulum type moving body on the support portion, the primary coil and the secondary coil face each other, and the secondary battery can be charged by the charging power source.

  According to a fifth invention, in any one of the first to third inventions, the power feeding unit includes a stand-side connector (152) electrically connected to the charging power source, and the power receiving unit includes A movable body side connector (151) that can be electrically coupled to the stand side connector is provided.

  According to this configuration, the secondary battery and the charging power source can be connected by the connector. Thereby, the structure is simplified and the weight can be reduced.

  In a sixth aspect based on the fifth aspect, the stand-side connector is provided on the arm, and the movable body-side connector is provided at a position corresponding to the stand-side connector. .

  According to this configuration, the stand side connector and the movable body side connector can be connected by the proximity of the arm to the inverted pendulum type movable body. Thereby, the cable etc. which connect between connectors become unnecessary.

  According to the above configuration, the charging system for the inverted pendulum type moving body can reliably connect the power feeding means and the power receiving means with a simple operation by leaning the inverted pendulum type moving body in an inoperative state. .

The perspective view which shows the inverted pendulum type mobile body and stand which concern on the charging system of 1st Embodiment. The perspective view of the usage state of the inverted pendulum type moving body of the first embodiment The disassembled perspective view of the inverted pendulum type moving body of 1st Embodiment IV-IV sectional view of FIG. VV sectional view of FIG. The side view which shows the state which made the stand concerning the charging system of 1st Embodiment support the inverted pendulum type mobile body The block diagram which shows the charge system of 1st Embodiment. The block diagram which shows the voltage monitoring circuit of 1st Embodiment The flowchart which shows the control procedure of the charging system of 1st Embodiment. The graph which shows the electric potential of the vehicle-mounted battery of 1st Embodiment The perspective view which shows the partial modification Example of the charging system of 1st Embodiment. The perspective view which shows the inverted pendulum type mobile body and stand which concern on the charging system of 2nd Embodiment. The block diagram which shows the charge system of 2nd Embodiment.

  Hereinafter, an embodiment in which the present invention is applied to an inverted pendulum type moving body and a stand will be described in detail with reference to the drawings. The stand is used to charge the secondary battery provided in the inverted pendulum type moving body while supporting the inverted pendulum type moving body in the inactive state in the standing state.

<First Embodiment>
As shown in FIG. 1, an inverted pendulum type moving body (hereinafter simply referred to as a moving body) 10 can be supported by a stand 11. As shown in FIG. 2, the moving body 10 includes an in-vehicle battery 25 that is a secondary battery as a power source. As illustrated in FIG. 3, the moving body 10 and the stand 11 include the charging system 13 according to the first embodiment. The in-vehicle battery 25 can be charged by receiving power from a charging power source provided on the stand side by the charging system 13 with the moving body 10 supported by the stand 11.

<Configuration of inverted pendulum type moving body>
With reference to FIGS. 1-3, the structure of the mobile body 10 is demonstrated. The direction of the moving body is based on the coordinate axis shown in each figure. As shown in FIGS. 1 to 3, the moving body 10 is provided on a frame 21 as a skeletal structure extending substantially in the vertical direction, a traveling unit 22 provided at a lower portion of the frame 21, and an upper portion of the frame 21. The main unit includes a seating unit 40, an electrical unit 23 provided inside the frame 21, and an in-vehicle battery 25 provided on the top of the frame 21 and supplying power to each unit and sensor. The electrical unit 23 includes an inverted pendulum control unit (hereinafter simply referred to as a control unit, not shown), a charge control unit 26, an upper load sensor (not shown), an inclination sensor (not shown), and the like. The control unit drives and controls the traveling unit 22 in accordance with input signals from various sensors based on the inverted pendulum control, maintains the moving body 10 in an upright (inverted) posture, and moves in any direction including front, rear, left and right. The body 10 is run. The charging control unit 26 controls charging of the in-vehicle battery 25. Further, the moving body 10 is provided with various sensors such as a step load sensor and a rotary encoder at appropriate positions separately from the electrical unit 23.

  The frame 21 has a hollow outer shell structure, has a constricted portion 21A around the entire circumference in the center in the vertical direction, and has a shape of approximately 8 when viewed from the left and right sides. The frame 21 is divided into upper and lower portions at a constricted portion 21 </ b> A, and includes a separate upper frame 28 and lower frame 29. The upper frame 28 and the lower frame 29 are made of carbon fiber reinforced plastic (CFRP). The upper frame 28 and the lower frame 29 are connected via an upper load sensor of the electrical unit 23 as will be described later.

  As shown in FIG. 3, the lower frame 29 has an upper opening 31 and a lower opening 32 and is formed in a cylindrical shape. The traveling unit 22 is accommodated inside the lower frame 29. On the left and right side walls 33, 33 of the lower frame 29, substantially semicircular cutouts 34, 34 continuous with the lower opening are formed, respectively. The electrical unit 23 is supported on the inner wall near the upper opening 31 in the left and right side walls 33, 33 of the lower frame 29.

  As shown in FIG. 2, the upper frame 28 is formed in an annular shape so as to form a saddle storage portion 36 penetrating in the left-right direction at the center, and the annular portion is formed hollow. A lower opening 37 that opens downward is formed at the lower end of the upper frame 28 (see FIG. 3), and the internal space of the annular portion communicates with the outside. A portion of the lower wall portion of the saddle storage portion 36 that is located above the lower opening 37 is recessed downward from the saddle storage portion 36, and has a through hole in the central portion of the bottom portion thereof. A connection hole (not shown) is formed. In addition, a saddle mounting hole (not shown) that connects the inner space of the annular portion and the saddle storage part 36 is formed in the upper wall part of the saddle storage part 36.

  An upper opening 38 is formed in the upper part of the upper frame 28, and a seating unit 40 is provided in the upper opening 38. The seating unit 40 includes a base body 41 fixed in the internal space of the annular portion, and a pair of left and right saddles whose base ends are rotatably supported by the base body 41 and whose other ends extend through the saddle mounting holes. Arms 42 and 42 and disk-shaped saddles 43 and 43 provided at the tips of the saddle arms 42 and 42 are provided. The saddle arms 42 and 42 are rotatable between a use position (see FIG. 2) extending in the left-right direction and a storage position (see FIGS. 1 and 3) extending in the up-down direction. Each position is held at the use position and the storage position. As shown in FIG. 2, in a state where the saddle arms 42 and 42 are in the use position, the seat surfaces of the saddles 43 and 43 face upward so that a passenger can be seated. As shown in FIG. 1, the saddles 43 and 43 close the saddle storage portion 36 in a state where the saddle arms 42 and 42 are in the storage position. The upper wall portion of the base body 41 closes the upper opening 38.

  On the upper wall portion of the base body 41, a handle 45 serving as a grip portion when the user carries the moving body 10 is provided. The handle 45 is provided with respect to the base body 41 so as to be able to appear and retract between a protruding state (see FIG. 1) and an immersion state (see FIG. 2).

  As described above, the connection between the lower frame 29 and the upper frame 28 is performed via the upper load sensor provided at the upper part of the electrical unit 23. The input shaft of the upper load sensor passes through the connection hole of the upper frame 28 from the lower side to the upper side, and is connected to the upper frame 28 by screwing a nut to the tip portion thereof.

  As shown in FIG. 4, the traveling unit 22 includes a pair of left and right mount members 51L and 51R as support members, a pair of left and right electric motors 52L and 52R attached to the pair of left and right mount members 51L and 51R, and an electric motor. Wave motors 53L and 53R serving as speed reducers for decelerating and transmitting the outputs of the motors 52L and 52R, and rotatably supported by the mount members 51L and 51R, respectively, and the electric motor 52L via the wave gear devices 53L and 53R. , 52R, respectively, and driving wheels 54L, 54R rotated by the left and right driving bodies 54L, 54R, respectively.

  The drive bodies 54L and 54R include disk-shaped drive disks 57L and 57R, and a plurality of drive rollers 58L and 58R rotatably supported on the outer periphery of the drive disks 57L and 57R. The main wheel 55 is composed of an endless annular ring body 61 formed of a prismatic body, and a plurality of cylindrical driven rollers 62 that are rotatably supported on the outer periphery of the ring body 61 via bearings. Yes. The driven roller 62 and the drive rollers 58L and 58R are in contact with each other, and the driven roller 62 is driven by receiving frictional force from the drive rollers 58L and 58R. The traveling unit 22 rotates the driving rollers 54L and 54R by the electric motors 52L and 52R, thereby rotating (rotating) the driven roller 62 around its own central axis and / or rotating (revolving) in the circumferential direction of the main wheel 55. ) To generate thrust in all directions on the plane including front, rear, left and right. For example, when the left and right drive disks 57L and 57R are rotated in the same direction, the driven roller 62 rotates in the circumferential direction of the main wheel 55, and when a difference is caused in the rotation speed between the left and right drive disks 57L and 57R, the driven roller is rotated. 62 rotates around its central axis.

  As shown in FIG. 3, step bases 64 </ b> L and 64 </ b> R are attached outside the left and right cutouts 34 and 34 of the lower frame 29. Steps 65L and 65R are rotatably supported on the step bases 64L and 64R. Each of the steps 65L and 65R is supported by the step bases 64L and 64R with a pivot shaft extending substantially in the front-rear direction at the base end portion, and the distal end portions thereof are positioned substantially above the base end portion, and the lower frame 29 , And a use position where the distal end portion is located substantially in the left-right direction of the base end portion and protrudes from the lower frame 29 is rotatable.

  The upper half of the traveling unit 22 is disposed inside the lower frame 29 so that the rotation axis thereof is parallel to the left-right direction. The traveling unit 22 is bolted to the step bases 64L and 64R and fixed to the lower frame 29 so as to sandwich the peripheral portions of the left and right cutouts 34 and 34 between the step bases 64L and 64R.

  A lower cover 66 for concealing the lower half of the traveling unit 22 except for the ground contact portion with the road surface is attached to the lower end portion of the lower frame 29. Further, side covers 67L and 67R for concealing the step bases 64L and 64R are attached to the outer side surfaces of the left and right side walls 33 of the lower frame 29 except for the steps 65L and 65R.

  As shown in FIG. 2, two in-vehicle batteries 25 are arranged in the front part and the rear part of the annular internal space of the upper frame 28. Each in-vehicle battery 25 may be composed of a plurality of cells. The in-vehicle battery 25 supplies power to the electric motors 52L and 52R via the control unit of the electrical unit 23, and supplies power to various devices provided in the moving body 10.

  As shown in FIG. 3, a power receiving coil 81 is provided at the rear portion in the lower opening 37 of the upper frame 28. The power reception coil 81 is magnetically coupled to a power transmission coil 82 described later in a non-contact state, and generates an induced electromotive force. The power receiving coil 81 is connected to the in-vehicle battery 25 via the charging control unit 26.

<Stand configuration>
As shown in FIG. 1, the stand 11 includes a disk-shaped base 91 placed on the floor, a support column 92 projecting upward from the peripheral edge of the base 91, and a distal end portion of the support column 92. And a support portion 93 provided on the head. On the upper surface of the base 91, a recess 94 is formed in which the lower part of the main wheel 55 of the moving body 10 can be fitted.

  The support portion 93 includes a casing 95, a pair of arms 96L and 96R, and a power transmission coil 82. The casing 95 has a hollow box shape including the bottom wall 101, the upper wall 102, and the side walls 103 to 106, and is fixed to the tip of the support column 92 on the lower surface of the bottom wall 101. The side wall 103 facing the center side of the stand 11 of the casing 95 is inclined so as to face obliquely upward. Through holes 107 and 108 through which the arms 96L and 96L can be inserted are formed in the side walls 104 and 105 disposed at both ends of the side wall 103, respectively. A through hole (not shown) is formed in the central portion of the side wall 106 facing the side wall 103.

  As shown in FIG. 1, the arms 96L and 96R are formed in an L shape. The base end of the arm 96L passes through the through hole 107 and enters the casing 95, and the lower part thereof is slidably coupled to the guide rail 111 attached to the upper surface of the bottom wall 101. A rack 112 is formed along the longitudinal direction of the upper surface of one end of the arm 96L. Similarly, the base end of the arm 96 </ b> R passes through the through hole 108 and enters the casing 95, and an upper portion thereof is slidably coupled to a guide rail 114 attached to the lower surface of the upper wall 102. A rack 115 is formed along the longitudinal direction of the lower portion of one end of the arm 96R.

  The rack 112 and the rack 115 are opposed to each other, and a pinion 116 that meshes with each of the racks 112 and 115 is provided therebetween. The pinion 116 is provided with a shaft 117 that is coaxial with the rotation axis thereof. The shaft 117 is pivotally supported by a through-hole formed in the side wall 106, and its tip extends to the outside of the casing 95. A lever 118 extending in the radial direction of the shaft 117 is fixed to the tip of the shaft 117.

  The distal ends of the arms 96L and 96R extend toward the center upper side of the base 91, and are provided with cushion members 119 having flexibility on the side surfaces facing each other. With the above configuration, the pinion 116 is rotated by rotating the lever 118, the arms 96L and 96R are slid in synchronization, and the tips of the arms 96L and 96R approach or separate from each other. When the arms 96L and 96R are separated from each other, it is easy to dispose the constricted portion 21A of the moving body 10 between the arms 96L and 96R, and when the arms 96L and 96R are approached from the state, the arms 96L and 96R The constricted portion 21A of the moving body 10 is sandwiched, and the moving body 10 is disposed and held at a predetermined position. Although not shown, the casing 95 is provided with a lock device that fixes the lever 118 to the casing 95 at an arbitrary rotational position. By this locking device, the arms 96L and 96R are fixed at arbitrary positions, and the connected state of the constricted portion 21A is maintained.

  An arm position detection sensor 123 that detects the approach of the arm 96 </ b> R is attached to the lower surface of the upper wall 102. The arm position detection sensor 123 of this embodiment is a proximity sensor, and detects whether or not the arm 96R is present at a predetermined position. The arm position detection sensor 123 determines whether or not the immersion length of the arm 96R into the casing 95 has reached a predetermined value, that is, whether the distance between the ends of the arms 96L and 96R is narrow and the moving body 10 is sandwiched. Detect whether or not. The arm position detection sensor 123 may be a contact type limit switch or the like, or may detect the lever position and estimate the arm position based on the lever position.

  As shown in FIG. 1, a power transmission coil 82 is provided inside the front side wall 103 of the casing 95. The power transmission coil 82 may be provided so as to be exposed on the outer surface of the side wall 103, or may be embedded in the side wall 103.

  As shown in FIG. 6, the stand 11 having the above-described configuration can support the non-operating moving body 10 whose power is turned off in a leaned state. The lower end of the moving body 10 is disposed at a predetermined position by the main wheel 55 being fitted into the recess 94 of the base 91. Further, the contact position between the moving body 10 and the support portion 93 is set to a predetermined position by the constricted portion 21A being sandwiched between the arms 96L and 96R. Thereby, the power receiving coil 81 of the moving body 10 and the power transmitting coil 82 of the stand 11 are arranged at positions facing each other.

  A procedure when the user supports the moving body 10 on the stand 11 will be described. First, the user holds the handle 45 of the moving body 10 and turns off the power of the moving body 10 so that the moving body 10 does not fall down. In this state, the moving body 10 cannot stand on its own. Next, the user lifts the moving body 10 and fits the lower part of the main wheel 55 into the recess 94 of the base 91 of the stand 11 so that the moving body 10 is inclined and leans against the side wall 103 of the casing 95. Then, the user rotates the lever 118, holds the constricted portion 21A of the moving body 10 with both arms 96L and 96R, and adjusts the position of the moving body 10 in the left-right direction with respect to the stand 11 to an appropriate position.

<Configuration of charging system>
As shown in FIG. 7, the charging system 13 includes a first rectifier 121, an oscillation circuit 122, an arm position detection sensor 123, a power transmission control circuit 124, a first switch 125, a power transmission coil 82 provided on the stand 11, A power receiving coil 81, a second rectifier 126, a voltage monitoring circuit 127, a power receiving control circuit 128, a second switch 129, and a vehicle-mounted battery 25 are provided in the moving body 10. The second rectifier 126, the voltage monitoring circuit 127, the power reception control circuit 128, and the second switch 129 constitute the charge control unit 26. In the present embodiment, the commercial power source 130 connected to the stand 11 via the power cable (not shown) is used as the charging power source. However, the stand 11 may be provided with a battery as the charging power source.

  The commercial power source 130 is a 50 Hz or 60 Hz AC power source, and is connected to the first rectifier 121 via a power cable and the first switch 125. The first switch 125 is controlled to be opened and closed by the power transmission control circuit 124. The power transmission control circuit 124 opens and closes the first switch 125 based on the signal output from the arm position detection sensor 123. In the present embodiment, when both arms 96L and 96R have reached a position where the moving body 10 can be sandwiched, the first switch 125 is closed and the power of the commercial power supply 130 is supplied to the first rectifier 121.

  The first rectifier 121 rectifies an alternating current input from the commercial power supply 130 and converts it into a direct current. The output of the first rectifier 121 is input to the oscillation circuit 122. The oscillation circuit 122 is a circuit that chops the direct current converted into a direct current by the first rectifier 121 to a predetermined frequency to generate an alternating current. Here, the predetermined frequency is a value suitable for providing electric power by electromagnetic coupling, and is generally set in the range of several tens of kHz to several hundreds of kHz.

  The oscillation circuit 122 is connected to the power transmission coil 82. The power transmission coil 82 generates an electromagnetic field by an alternating current chopped to a predetermined frequency.

  The power receiving coil 81 generates an induced current corresponding to the electromagnetic field generated by the power transmission coil 82 by electromagnetic induction by the power transmission coil 82. Here, the induced current generated by the power transmission coil 82 is an alternating current chopped to a predetermined frequency. The power receiving coil 81 is connected to the second rectifier 126 via the second switch 129. The second switch 129 is controlled to open and close by the power reception control circuit 128. The second rectifier 126 converts the alternating current generated by the power receiving coil 81 into a direct current and supplies the direct current to the in-vehicle battery 25 and the voltage monitoring circuit 127.

  The voltage monitoring circuit 127 monitors the electromotive voltage of the in-vehicle battery 25 and outputs a signal corresponding to the electromotive voltage of the in-vehicle battery 25 to the power reception control circuit 128. As shown in FIG. 8, the voltage monitoring circuit 127 has an operational amplifier 133, a reference voltage source 134, and a ground potential 135. The electromotive voltage of the in-vehicle battery 25 is input to the non-inverting input terminal of the operational amplifier 133, and the voltage of the reference voltage source 134 is input to the other inverting input terminal. The operational amplifier 133 outputs a high level “H” signal to the power reception control circuit 128 when the electromotive voltage of the in-vehicle battery 25 is equal to or higher than the reference voltage Vth of the reference voltage source 134, while the electromotive voltage is higher than the reference voltage Vth. If it is low, a low level “L” signal is output to the power reception control circuit 128.

  FIG. 9 shows the discharge characteristics of the in-vehicle battery 25 as an example. When the electromotive voltage of the in-vehicle battery 25 is equal to or higher than the reference voltage Vth, the voltage monitoring circuit 127 outputs a signal “H”. When the time is elapsed and the electromotive voltage of the in-vehicle battery 25 decreases and becomes lower than the reference voltage Vth, the voltage monitoring circuit 127 outputs an “L” signal.

  The power reception control circuit 128 opens the second switch 129 when receiving the “H” signal from the voltage monitoring circuit 127, and closes the second switch 129 when receiving the “L” signal. That is, when the electromotive voltage of the in-vehicle battery 25 is equal to or higher than Vth, the second switch 129 is opened to cut off the power supply from the power receiving coil 81 (charging is stopped). When it is low, the second switch 129 is closed to enable power supply from the power receiving coil 81 (charging is possible).

  A control procedure performed by the charging system 13 will be described with reference to the flowchart of FIG. First, the power transmission control circuit 124 determines whether or not the arm 96R has reached a predetermined position based on the signal output from the arm position detection sensor 123 (S1). If the determination is Yes, the first switch 125 is closed (S2). Thereby, an alternating current is supplied to the power transmission coil 82, and the power transmission coil 82 generates a magnetic field. That is, when it is determined that the moving body 10 is sandwiched between the arms 96L and 96R and is positioned at an appropriate position with respect to the stand 11, the stand 11 starts to charge the moving body 10. . On the other hand, if the determination in step S1 is No, the first switch 125 is opened and no current is supplied to the power transmission coil 82 (S5).

  Next, the power reception control circuit 128 determines whether or not the potential V of the in-vehicle battery 25 is lower than the reference voltage Vth based on the signal output from the voltage monitoring circuit 127 (S3). If the determination is Yes, the second switch 129 is closed (S4). As a result, the induced current generated in the power receiving coil 81 is supplied to the in-vehicle battery 25 via the second rectifier 126, and the in-vehicle battery 25 is charged. On the other hand, when the determination in step S3 is No, the second switch 129 is opened and no current is supplied to the in-vehicle battery 25. Thereby, the vehicle-mounted battery 25 is charged only when the electromotive voltage is lower than the reference voltage Vth, and overcharging is prevented.

<Operational effects of the first embodiment>
In the charging system 13 described above, the user can place the moving body 10 at an appropriate position on the stand 11 by a relatively simple operation. Further, by using the power transmission coil 82 and the power reception coil 81, a non-contact type charging system is constructed, and it is not necessary to connect a connector or the like, and the charging operation is easy.

<Partly modified example of the first embodiment>
In the first embodiment, the power receiving coil 81 is provided in the rear portion in the lower opening 37 of the upper frame 28, but may be provided in any other portion. For example, the power receiving coil 81 may be provided on the right side in the lower opening 37 of the upper frame 28. In this case, as shown in FIG. 11, the moving body 10 is arranged with respect to the stand 11 so that the right side portion of the moving body 10 provided with the power receiving coil 81 contacts the side wall 103 of the support portion 93. The constricted portion 21A is sandwiched between the arms 96L and 96R from the front-rear direction. In this case, since a large installation site of the power receiving coil 81 can be secured, the size of the coil can be increased.

Second Embodiment
Compared with the charging system 13 of the first embodiment, the charging system 150 of the second embodiment uses a moving body side connector 151 and a stand side connector 152 instead of the power receiving coil 81 and the power transmitting coil 82, and a commercial power supply 130. And the in-vehicle battery 25 are different in configuration. About the charging system 150 of 2nd Embodiment, about the structure similar to the charging system 13 of 1st Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  As shown in FIG. 12, one mobile unit side connector 151 is provided on each of the upper side walls 33 and 33 of the lower frame 29. The stand side connector 152 is provided in the mutually opposing part of the outer end of each arm 96L, 96R. The movable body side connector 151 and the stand side connector 152 have complementary shapes that can be coupled to each other.

  When the main wheel 55 of the moving body 10 is fitted in the recess 94 and the rear portion of the upper frame 28 is in contact with the side wall 103 of the support portion 93, the lever 118 is rotated to bring both arms 96L and 96R close to each other. The movable body side connector 151 and the stand side connector 152 are connected.

  As shown in FIG. 13, in the charging system 150 according to the second embodiment, the power transmission coil 82 and the power receiving coil 81 are connected to the stand-side connector 152 and the moving body-side connector 151 as compared with the charging system 13 of the first embodiment. Since the replacement is made, the oscillation circuit 122 and the second rectifier 126 are omitted.

  In the second embodiment, the movable body 10 can be clamped by the arms 96L and 96R and the connection between the stand-side connector 152 and the movable body-side connector 151 can be performed simultaneously by rotating the lever 118.

  Although the description of the specific embodiment is finished as described above, the present invention is not limited to the above embodiment and can be widely modified. For example, the base portion 91 of the stand 11 may be formed integrally with the floor, and the support column 92 does not need to protrude from the base portion 91 but protrudes from a fixed structure such as a wall surface of a building. Also good. In the embodiment, the arms 96L and 96R are displaced by manually rotating the lever 118. However, the arms 96L and 96R may be displaced using an actuator such as a motor. In another embodiment, both arms may be fixed so that they cannot be displaced, and the moving body 10 may be fitted between both arms. In this case, there is an advantage that the configuration of the support portion 93 can be simplified.

  DESCRIPTION OF SYMBOLS 10 ... Inverted pendulum type moving body, 11 ... Stand, 13,150 ... Charging system, 21 ... Frame, 21A ... Constriction part, 22 ... Traveling unit, 23 ... Electric equipment unit, 25 ... Car-mounted battery (secondary battery), 26 ... Charge control unit, 28 ... upper frame, 29 ... lower frame, 45 ... handle, 54L, 54R ... driver, 55 ... main wheel, 81 ... power receiving coil (secondary coil), 82 ... power transmitting coil (primary coil) , 91 ... Base, 92 ... Post, 93 ... Support, 94 ... Recess, 95 ... Casing, 96L, 96R ... Arm, 111, 114 ... Guide rail, 112, 115 ... Rack, 116 ... Pinion, 117 ... Shaft, 118 ... lever 121 ... first rectifier 122 ... oscillation circuit 123 ... arm position detection sensor 124 ... power transmission control circuit 125 ... first switch 26 ... second rectifier, 127 ... voltage monitoring circuit, 128 ... power reception control circuit, 129 ... second switch, 130 ... utility power, 151 ... movable body side connector, 152 ... stand side connector

Claims (5)

A charging system for charging a secondary battery provided in an inverted pendulum type moving body,
In order to support the inverted pendulum type moving body in a non-actuated state in a predetermined inclined standing state, a stand having a support portion that comes into contact with the inverted pendulum type moving body is provided.
The stand has a power supply for charging and a power supply means provided in the support portion and receiving power supply from the power supply for charging,
The inverted pendulum type moving body extends in the vertical direction and includes a constricted portion at an intermediate portion in the vertical direction , receives electric power from the power feeding means at a portion in contact with the support portion, and supplies current to the secondary battery. have a receiving means for supplying,
The support portion includes a pair of arms at a position corresponding to the constricted portion in a state where the inverted pendulum type moving body is supported,
The inverted pendulum type moving body charging system , wherein the constricted portion is disposed between the pair of arms . The pair of arms can be moved toward and away from each other,
The charging system for an inverted pendulum type moving body according to claim 1 , wherein the constricted portion is sandwiched between the pair of arms. The power supply means includes a primary coil that generates a magnetic field by a current supplied from the charging power source,
3. The charging system for an inverted pendulum type moving body according to claim 1 , wherein the power reception unit includes a secondary coil that generates an induced current by a magnetic field generated by the primary coil. 4. The power supply means includes a stand-side connector electrically connected to the charging power source,
4. The charging of the inverted pendulum type moving body according to claim 1 , wherein the power receiving unit includes a moving body side connector that can be electrically coupled to the stand side connector. 5. system. The stand side connector is provided on the arm,
The charging system according to claim 4 , wherein the movable body side connector is provided at a position corresponding to the stand side connector.

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