JP5310410B2 - Coaxial motorcycle and control method thereof - Google Patents

Description

  The present invention relates to a coaxial two-wheeled vehicle having two wheels arranged on the same axis and a control method thereof, and more particularly to a coaxial two-wheeled vehicle that can carry a person and a control method thereof.

  Patent Document 1 describes an example of a coaxial two-wheeled vehicle that rides in a standing position and is controlled by a user. The coaxial two-wheeled vehicle uses the orthogonal direction along the traveling direction as the axes of the left and right wheels. In the coaxial two-wheeled vehicle described in Patent Document 1, the advancing direction, the retreating direction, and the advancing direction of left and right turning are controlled by a user operation. The user controls the traveling direction of the coaxial two-wheel vehicle by operations such as operation of the steering wheel, movement of the center of gravity, and change of the inclination of the step.

  An example of a conventional coaxial two-wheel vehicle is described in Patent Document 2. The coaxial two-wheeled vehicle described in Patent Document 1 has at least a step part on which a user puts his / her foot and a handle part which can be operated to move back and forth, and moves with the user on.

  When the coaxial two-wheeled vehicle detects that the user gets off, the coaxial two-wheeled vehicle increases the inclination angle of the step portion with respect to the user's getting-off direction. As a result, the user can easily get off.

JP 2006-315666 A JP 2009-101760 A

  A conventional coaxial two-wheeled vehicle has wheels on the left and right, and has a step portion on which the user puts his / her foot on each wheel. A coaxial two-wheeled vehicle can turn around by touching only two wheels, and can be operated without difficulty even in a confined space.

  However, since the coaxial two-wheeled vehicle is unstable in the front-rear direction, the user needs to pay close attention not to get injured when getting on and off the vehicle. The shape of the handle of the conventional coaxial two-wheeled vehicle is inclined forward along the traveling direction so that the user can easily operate when getting on. The handle tilted forward is separated from the user's standing position when getting on or getting off. Therefore, it is difficult for the user to get on, and there is a problem that the risk of getting closer to the coaxial two-wheeler than necessary and getting a foot caught in the wheel increases.

  The present invention has been made to solve such problems, and an object of the present invention is to provide a coaxial two-wheeled vehicle that allows a user to get on and off the vehicle more safely.

  A coaxial two-wheeled vehicle according to the present invention includes a step portion on which a user gets on, a vehicle main body portion that supports the step portion, a pair of wheels that are rotatably supported by the vehicle main body portion, and a drive portion that drives the wheels. And a handle portion that is connected to the vehicle main body and is gripped by the user while the user is riding. The said handle | steering-wheel part which a coaxial two-wheel vehicle has moves the position to the 1st position when a user gets in and alights, or the 2nd position when a user steers while driving | running | working a vehicle. Here, the first position is located closer to the user than the second position.

  In the present invention, since the handle portion is located on the side closer to the user when boarding, the user does not need to approach the coaxial motorcycle more than necessary when getting on and off the vehicle, and the user gets on more safely. Can get off and get off.

  Moreover, it is preferable that the handle unit includes a control unit that detects the user's boarding and moves the position of the handle unit from the first position to the second position. Thereby, the user can get on more safely.

  Furthermore, it is desirable that the handle unit includes a control unit that detects the user getting off and moves the position of the handle unit from the second position to the first position based on the detection result. Thereby, the handle portion can be automatically moved.

  Furthermore, it is desirable that the handle part has a lock button for fixing the position of the handle part to a position between the first position and the second position. Thereby, the position of the handle can be moved manually, and the user can position the handle at a desired position.

  In addition, the first position is a position in which the handle portion is substantially vertical, and the second position is a position in which the handle portion is inclined by 5 degrees to 20 degrees toward the side away from the user. preferable. When the user gets on and off the vehicle, the handle portion is in the first position inclined at 5 degrees to 20 degrees, so that it is easy for the user to grip and the handle portion is in the second position when traveling. Therefore, the maneuvering becomes easy.

  Furthermore, it is preferable that the step unit includes a detection unit that detects the user's boarding, and the control unit changes a position of the handle in accordance with a detection result of the detection unit. Thereby, it can detect that the user got on and can change the position of a handle automatically.

  According to the present invention, it is possible to provide a coaxial two-wheeled vehicle and a control method thereof that allow a user to get on and off more safely by changing the position of the steering wheel of the coaxial two-wheeled vehicle and when getting on and off the vehicle. be able to.

1 is an overall view of a coaxial two-wheeled vehicle according to a first embodiment. It is a figure which shows the handle | steering-wheel part 3 concerning Embodiment 1. FIG. 1 is a diagram showing a control mechanism 2 of a coaxial two-wheeled vehicle according to a first embodiment. 3 is a flowchart showing the operation of the handle 10 in the coaxial two-wheeled vehicle according to the first exemplary embodiment.

Embodiment 1
Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is an overall view of a coaxial two-wheeled vehicle according to the present invention. The coaxial two-wheel vehicle 1 according to the present embodiment includes 14R and 14L (hereinafter, referred to as a step portion 14 when there is no need to distinguish between them) and a vehicle main body portion 15 that supports the step portion. And having. The coaxial two-wheel vehicle 1 further includes wheels 13R and 13L (hereinafter, referred to as wheels 13 unless otherwise required) as a pair of wheels rotatably supported by the vehicle main body, and a drive for driving the wheels 13. And a handle portion 3 that is connected to the vehicle main body portion 15 and is gripped by the user when the user gets on the vehicle.

  The handle portion 3 includes a handle 10 that moves the position to a first position when the user gets on and off the vehicle, or a second position when the user steers the vehicle while traveling. Here, the first position is located closer to the user than the second position. The handle portion 3 further includes a joint portion 11, a support column portion 12, and a lock button 16. The support column portion 12 is connected to the vehicle main body portion 15 via the handle support portion 17.

  A coaxial two-wheeled vehicle 1 according to the present embodiment is a coaxial two-wheeled vehicle that controls a traveling state by moving a center of gravity of a user who rides on the vehicle or by operating a handle of the user. Here, the coaxial two-wheel vehicle according to the present embodiment is particularly characterized by the position of the handle portion and the control method thereof when the user gets on or off the vehicle.

  The coaxial two-wheel vehicle 1 according to the present embodiment includes a handle 10 that moves the position of the handle 3 when the user gets on or off the vehicle and when the vehicle travels, a joint 11, and a column. It has a section 12 and a lock button 16. When the user gets on or gets off the vehicle, the handle 10 is in the substantially vertical position as the first position, and when the vehicle travels, the handle 10 is inclined as the second position away from the user. It is preferable that it is the position made into.

  By moving the position of the handle 10, the handle 10 can be easily gripped when getting on and off the vehicle, and can be easily operated when traveling.

  Next, the first position and the second position of the handle 10 will be described. FIG. 2 (a) shows the shape of the handle portion during travel as the second position, and FIG. 2 (b) shows the shape of the handle portion when the user gets on and off the vehicle as the first position. .

  As shown in FIG. 2B, the first position is a position in which the handle 10 is substantially vertical. As shown in FIG. 2A, the second position is a position where the handle 10 is inclined to the side away from the user, compared to the first position. Here, it is preferable to set the bundle 10 at a position inclined by 5 degrees to 20 degrees. By tilting about 5 to 20 degrees, the user can easily grip the handle portion 3 when the user gets on and off the vehicle. Here, a more preferable inclination angle is 5 degrees to 15 degrees. The lock button 16 fixes the handle 10 at a position between the first position and the second position by a user's manual operation.

  Here, the coaxial two-wheel vehicle 1 according to the present embodiment will be described in detail. FIG. 3 is a diagram showing the control mechanism 2 of the coaxial two-wheeled vehicle according to the present embodiment. The control mechanism 2 includes a control unit 35, and includes an attitude sensor detection unit 31, a handle angle detection sensor 32, a boarding / alighting detection switch 33, and step sensors 34R and 34L connected to the control unit. The control mechanism 2 includes a power source (battery) 39, an emergency stop switch 41, a grip drive unit 42, and drive circuits 40R and 40L, and includes a wheel drive motor (R) 43 and a wheel drive motor (L) 44. . The control unit 35 is connected to a power source (battery) 39, a grip drive unit 42, and drive circuits 40R and 40L. The drive circuit 40 (hereinafter, collectively referred to as the drive circuit 40 unless otherwise required) and the power source (battery) 39 are connected to the emergency stop switch 41. The drive circuit 40R and the drive circuit 40L are connected to a wheel drive motor (R) 43 and a wheel drive motor (L) 44, respectively. Here, the main control unit 35 includes a grip position control unit 38 as a control unit, an arithmetic circuit (CPU) 36 and a storage device (memory) 37.

  The attitude sensor detection unit 31 is used to detect an angular velocity and acceleration when the coaxial two-wheeled vehicle 1 is traveling and to control the angular velocity and acceleration. Specifically, it has a gyro sensor and an acceleration sensor.

  The handle angle detection sensor 32 measures an inclination angle between the support column 12 and the vehicle body 15 and measures a rotation angle of the support column. The coaxial two-wheeled vehicle 1 is controlled such that the traveling direction is changed by the steering operation of the user or the movement of the gravity center position of the user. If the handle portion 3 tilts forward along the traveling direction, the vehicle travels forward. If the handle portion 3 tilts backward, the vehicle travels backward. Moreover, if the handle | steering-wheel part 3 inclines right and left, it will turn in the inclined direction. Moreover, when the handle | steering-wheel part 3 rotates right and left, you may make it turn in the direction of a rotation angle. In either case, the operation of the vehicle body is controlled according to the inclination angle or the rotation angle of the handle operated by the user. When the angle tilted back and forth is large, the speed of traveling forward and backward increases, and when the left and right tilt angles of the handle portion 3 are large, the turning radius is controlled to be small. Or, when the turning angle of the handle is large, the turning radius is controlled to be small.

  The step sensors 34R and 34L are installed in the left and right step portions 14R and 14L on which the user gets, respectively, and detect that the user gets on.

  The boarding / alighting detection switch 33 outputs to the main control unit 35 that the user has boarded or alighted, detected by the step sensors 34R and 34L. In addition to the step sensors 34R and 34L, a switch for inputting a user operation from the outside may be provided.

  The power source (battery) 39 is a fuel cell that is mounted on the main body and sends current to each mounting device. The fuel cell is an example, and any other fuel cell may be used as long as it transmits power to the coaxial two-wheeled vehicle 1.

  The emergency stop switch 41 is connected to the power source (battery) 39, the drive circuit 40R, and the drive circuit 40L. In an emergency, the connection between the power source (battery) 39 and the drive circuits 40R and 40L is turned off.

  The drive circuit 40R and the drive circuit 40L are connected to a wheel drive motor (R) 43 and a wheel drive motor (L) 44, respectively, and drive the wheels 13R and 13L independently on the left and right.

  The arithmetic circuit (CPU) 36 calculates the speed and turning direction of the coaxial two-wheel vehicle 1 based on values input from the attitude sensor detection unit 31 and the handle angle detection sensor 32, for example, and controls the drive circuit 40R and the drive circuit 40L. Output a signal.

  The storage device (memory) 37 includes a program memory, a data memory, and the like of the vehicle main body portion or the handle portion 3.

  The grip drive unit 42 is connected to the grip position control unit 38 and changes the angle between the handle 10 and the column unit 12 in accordance with a control signal from the grip position control unit 38.

  When the grip position control unit 38 receives from the boarding / alighting detection switch 33 or the step sensor 34 that the user gets on or gets off, the grip position control unit 38 controls the grip driving unit 42 to move the position of the handle 10 accordingly.

  Next, the operation of the handle 10 when the user gets on will be described. First, when the user is not in the vehicle, the handle portion 3 of the coaxial two-wheel vehicle 1 is in the first position. The first position is a position in which the handle 10 of the handle portion 3 is in a substantially vertical direction, a position closer to the user side than when boarding a user who is about to get on, and a position where the user can more easily grip the position. ing.

  When the user puts his or her foot on the step unit 14 and boarding is completed, the step sensor 34 detects that the user has boarded. The boarding / alighting detection switch 33 that has received that the user has boarded from the step sensor 34 outputs to the main control unit 35 that the user has boarded.

  When the grip position control unit 38 receives from the boarding / alighting detection switch 33 that the user has boarded, the grip position control unit 38 moves the position of the handle 10 from the first position to the second position. Here, the second position is a position where the handle 10 of the handle portion 3 is inclined to the side away from the user as compared with the first position, and is a position where the user who has boarded can easily operate the handle of the coaxial two-wheel vehicle 1. is there.

  Here, since the lock button 16 can fix the angle of the handle 10 and the column 12 at an arbitrary position of the user, the user can fix the handle 10 at an arbitrary angle with respect to the column 12 after getting on.

  Next, the operation of the handle 10 when the user gets off will be described. First, when the user is on board, the handle 10 of the coaxial two-wheeled vehicle 1 is in the second position. When the user steps down from the step unit 14 and the getting-off is completed, the step sensor 34 detects that the user has got off. The boarding / alighting detection switch 33 that has received the user getting off from the step sensor 34 outputs to the main control unit 35 that the user has got off the car.

  The grip position control unit 38 moves the position of the handle 10 from the second position to the first position when it receives from the getting on / off detection switch 33 that the user has got off the vehicle.

Next, the operation of the handle 10 will be described in more detail. FIG. 4 is a flowchart showing the operation of the handle 10 in the coaxial two-wheeled vehicle.

  First, when the user places his / her right or left foot on the step portion 14R or 14L, the step sensor 34R detects and the right / left foot getting on / off detection switch 33 is turned on (step S21). Next, when the user puts the other foot on the step portion 14R or 14L, the step sensor 34 detects and the on / off detection switch 33 for both feet is turned on (step S22). Here, the grip position control unit 38 that has detected that the user has boarded causes the grip drive unit 42 to move the handle 10 to a position suitable for the traveling state.

  After the user finishes traveling (step S23), when the user lowers one foot from the step portion 14R or 14L, the step sensor detects and the one foot getting on / off detection switch 33 is turned off (step S24). When the user lowers the other foot from step unit 14R or 14L, the step sensor senses and both boarding / alighting detection switches 33 are turned off (step S25). When the grip position control unit 38 detects that the user has exited, the grip driving unit 42 moves the handle 10 to a position suitable for riding.

  Here, an example in which the position of the handle 10 is moved after getting off the vehicle is described. For example, a switch for inputting that the user gets off the vehicle is provided, and the position of the grip portion is suitable for getting off before the user gets off the vehicle. It may be moved to.

  As described above, according to the present embodiment, it is possible to provide a coaxial two-wheeled vehicle that allows a user to board and get off more safely. The position of the steering wheel is close to the user when the user gets on and off, and the steering wheel is at a position slightly away from the front in the traveling direction in the same manner as a conventional coaxial two-wheeled vehicle. As a result, while maintaining the operability of the conventional coaxial two-wheeled vehicle, it is possible to achieve both the operability and ease of getting on and off of the vehicle that are not found in the conventional coaxial two-wheeled vehicle.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention. For example, the shape of the handle is not T-shaped but may be U-shaped, I-shaped, or O-shaped. Also, since the distance between the grip portion and the user who rides should be closer to the position of the user when maneuvering, the angle between the grip portion and the strut portion is not changed, but the grip portion and the strut portion are You may make it fix and change the angle of a support | pillar part and a wheel main-body part.

DESCRIPTION OF SYMBOLS 1 Coaxial two-wheeled vehicle 2 Coaxial two-wheeled vehicle control mechanism 3 Handle part 10 Handle 11 Joint part 12 Support | pillar part 13R, 13L Wheel 14R, 14L Step part 15 Wheel main-body part 16 Lock button 17 Handle support part 31 Posture sensor detection unit 32 Handle angle detection sensor 33 Boarding / alighting detection switch 34R, 34L Step sensor 35 Main control unit 36 Arithmetic circuit
37 Storage device (memory)
38 Grip position controller 39 Battery (power supply)
40R, 40L Drive circuit 41 Emergency stop switch 42 Grip drive unit 43 Wheel drive motor (R)
44 Wheel drive motor (L)

Claims (9)

A step part on which the user gets on;
A vehicle main body for supporting the step portion;
A pair of wheels rotatably supported by the vehicle body,
A drive unit for driving the wheels;
The vehicle is provided, et al are rotatably so as to be able to change the relative angle against the main body portion, anda handle that is gripped to the user during boarding of the user,
Said handle, said by changing the relative angle with respect to the vehicle main body, the first of position when the user rides and getting off, or the user while the vehicle is traveling is moved to the second position when the steering And the said 1st position is a coaxial two-wheeled vehicle located in a user side rather than the said 2nd position. And a detector for detecting a ride before Symbol user,
A control unit that moves the position of the handle from the first position to the second position when a user's boarding is detected by the detection unit ;
The coaxial two-wheeled vehicle according to claim 1, further comprising : And a detector for detecting a drop-off of the previous Symbol user,
A control unit that moves the position of the handle from the second position to the first position when the detection unit detects the user getting off ;
The coaxial two-wheeled vehicle according to claim 1, further comprising : The coaxial two-wheeled vehicle according to any one of claims 1 to 3, further comprising a lock button for fixing the position of the handle to a position between the first position and the second position.   5. The first position is a position where the handle is substantially vertical, and the second position is a position where the handle is inclined by 5 degrees to 20 degrees toward a side away from the user. The coaxial two-wheeled vehicle according to any one of the above. The detection unit is provided in the step unit,
請 Motomeko 2 or 3 coaxial two-wheel vehicle according. Connected to the step part on which the user gets on, the vehicle main body part that supports the step part, a pair of wheels rotatably supported by the vehicle main body part, a drive part that drives the wheels, and the vehicle main body part And a control method of a coaxial two-wheeled vehicle having a handle gripped by the user during the user's boarding,
A first detection step for detecting that the user has completed boarding;
According to the detection result of the first detection step, the rotation angle of the handle with respect to the vehicle main body is changed, and the position of the handle is separated from the user from the first position from the first position. A control method for a coaxial two-wheeled vehicle, comprising: a first steering wheel control step for moving the second steering wheel to a second position. A second detection step for detecting that the user has exited;
Depending on the detection result of the second detection step, a position of the handle, from the second position according to claim 7 coaxial two-wheel vehicle according to a second handle control step causes the movement to the first position Control method.   The first position is a position in which the handle is substantially vertical, and the second position is a position in which the handle is inclined by 5 to 20 degrees toward a side away from the user. The control method of the coaxial two-wheeled vehicle of 8.

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