JP5432649B2 - Inverted pendulum type moving body - Google Patents

Description

  The present invention relates to an inverted pendulum type moving body that moves while maintaining an inverted posture. More specifically, the present invention relates to a technique for causing a passenger or a surrounding person to recognize the traveling state (traveling direction) of 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.

International Publication No. 08/1327979 Pamphlet

  Unlike an ordinary automobile or motorcycle, the inverted pendulum type moving body according to Patent Document 1 can move straight in the left-right direction regardless of turning, and has a high degree of freedom in changing the direction. Therefore, there is a problem that it is difficult for a passerby or the like around the inverted pendulum type moving body to predict the traveling direction of the inverted pendulum type moving body.

  The present invention has been made in view of the above problems, and informs the passersby around the inverted pendulum type mobile body of the traveling direction of the inverted pendulum type mobile body and prompts the passersby to call attention. It is an object of the present invention to provide an inverted pendulum type moving body capable of performing the above.

In order to solve the above-mentioned problem, the first invention is an inverted pendulum type moving body (1), which extends in the vertical direction and includes a constricted portion (2A) at the center in the vertical direction over the entire circumference, A base body (2) divided into a lower frame 21 and an upper frame (22) at a constricted portion, a seating unit (4) provided on the upper part of the base body, and provided on the base body, the base body on the floor surface A traveling unit (3) that travels in an arbitrary direction including a front-rear direction and a left-right direction, and an operation input detection unit that is provided on the base and generates an operation input signal for changing the traveling direction and the traveling speed of the base. 7) and a target value related to the traveling direction and traveling speed of the traveling unit is set according to the operation input signal, and the traveling direction and traveling speed of the substrate are And control means for controlling the driving of the traveling unit so as to match the travel direction and travel speed of the target value (5), and a notification unit (400) is a lamp unit provided in the base body, wherein the notification The means includes a forward light (401) provided on a shoulder portion facing obliquely above the front wall of the lower frame, and the control means performs the notification based on the operation input signal or the target value related to the traveling direction. The operation control of the means is performed.

  According to this configuration, notification based on the direction in which the inverted pendulum type moving body is about to travel is performed, and attention can be given to persons around the inverted pendulum type moving body. The notification means includes light emission of a lamp that visually alerts, generation of sound and warning sound that alerts auditorily, and the like.

  According to a second aspect, in the first aspect, the control unit further controls the operation of the notification unit based on the operation input signal or the target value related to a traveling speed.

  According to this configuration, the notification means is activated when appropriate according to the traveling speed. For example, when the necessity for alerting by the notification means is low, such as when the operating travel speed is low, the operation of the notification means can be stopped or the output can be weakened.

  In a third aspect of the invention, the control means is configured such that the absolute value of the traveling speed in the left-right direction of the operation input signal or the target value is the absolute value of the traveling speed in the front-rear direction of the operation input signal or the target value. The notification means is operated when a threshold value that increases with increase is exceeded.

  According to this configuration, when the ratio of the traveling speed in the left-right direction to the traveling speed in the front-rear direction is small, control such as stopping or weakening the operation of the notification unit can be performed. For example, when the ratio of the traveling speed in the left-right direction to the traveling speed in the front-rear direction is small, it is possible not to perform notification for leftward (left turn) or rightward (right turn).

  According to the above configuration, the inverted pendulum type moving body can activate the notification means based on the direction in which the vehicle is going to travel, and alert the passersby around the inverted pendulum type moving body about the traveling direction. it can.

The perspective view which shows the boardable state (state which expanded the saddle and the step) of the inverted pendulum type moving body The perspective view which shows the accommodation state (state which stored the saddle and the step) of the inverted pendulum type mobile body Rear view showing the state in which an inverted pendulum type mobile body can be boarded An exploded perspective view of an inverted pendulum type moving body Side view showing partially inverted pendulum type moving body Exploded perspective view of superstructure VII-VII sectional view of FIG. VIII-VIII sectional view of FIG. The principal part expanded sectional view of FIG. Perspective view showing the electrical unit The perspective view which shows a partially broken connection structure of the upper structure and the lower structure Sectional view showing the connection structure of the upper structure and lower structure Block diagram showing the control system of an inverted pendulum type moving body Perspective view showing boarding style of inverted pendulum type moving body Flow chart showing the control procedure of the lamp unit A map used to select the lamp to be lit

  Hereinafter, details of an inverted pendulum type moving body according to an embodiment of the present invention will be described with reference to the drawings. In the description, the direction of the inverted pendulum type moving body and its constituent elements is determined as shown in the figure, with the vertical direction being the vertical direction and the front-rear direction and the left-right direction being orthogonal to each other on a horizontal plane perpendicular to the vertical direction. In addition, about the same member provided symmetrically, L and R are attached | subjected to the subscript of a number, and only one is demonstrated.

<Overall configuration of inverted pendulum type moving body>
As shown in FIG. 1 to FIG. 5, an inverted pendulum type moving body (hereinafter simply referred to as a moving body) 1 includes a frame (base body) 2 as a skeletal structure extending in a generally vertical direction, and a frame 2, a traveling unit 3 provided in the lower part of the frame 2, a seating unit 4 provided in the upper part of the frame 2, an electrical unit 11 provided in the frame 2, and an upper part of the frame 2. And a battery unit 10 for supplying power to the main components. The electrical unit 11 includes an inverted pendulum control unit (control means; hereinafter simply referred to as a control unit) 5, an upper load sensor 6, and an inclination sensor (operation input detection means) 7. The control unit 5 drives and controls the traveling unit 3 in accordance with input signals from various sensors based on the inverted pendulum control, and maintains the moving body 1 in the inverted posture. In addition, the moving body 1 includes a step load sensor 8 and rotary encoders 9L and 9R at appropriate positions separately from the electrical unit 11. In addition, a lamp unit (notification unit) 400 is provided on the outer surface of the frame 2 for visually informing the passenger and the people around the moving body 1 of the traveling state (traveling direction) of the moving body 1.

<Frame structure>
As shown in FIG. 1, the frame 2 has a hollow outer shell structure and has a flat shape in which the width in the front-rear direction is larger than the width in the left-right direction. The frame 2 has a constricted portion 2A over the entire circumference in the center in the vertical direction. In the constricted portion 2A, the front-rear direction is recessed larger than the left-right direction. The frame 2 has a shape of approximately 8 when viewed from the left-right direction. The frame 2 is divided into upper and lower portions at the constricted portion 2A, and is composed of a separate upper frame 21 and lower frame 22 as shown in FIG. The upper frame 21 and the lower frame 22 are each made of dry carbon (carbon fiber reinforced resin: CFRP) formed by thermosetting a carbon prepreg sheet. The upper frame 21 and the lower frame 22 are connected via an upper load sensor 6 (FIG. 5) described later.

  As shown in FIG. 5, the upper frame 21 is formed in an annular shape so as to form a saddle storage portion 24 penetrating in the left-right direction at the center, and the annular portion is formed in a hollow shape. The internal space 26 formed in the annular portion is defined as a front internal space 26A, a rear internal space 26B, an upper internal space 26C, and a lower internal space 26D with reference to the saddle storage 24. A lower opening 25 that opens downward is formed at the lower end of the upper frame 21, and the lower internal space 26D communicates with the outside. An upper opening 27 that opens upward is formed at the upper end of the upper frame 21, and the upper internal space 26 </ b> C communicates with the outside. A saddle mounting hole 28 that connects the upper internal space 26 </ b> C and the saddle storage portion 24 is formed in the upper wall portion of the saddle storage portion 24. A connection concave portion 29 is formed in the lower wall portion of the saddle storage portion 24 and located above the lower opening 25 so as to be recessed downward from the saddle storage portion 24. A connecting hole 30 that is a through hole is formed in the center of the bottom. The connection recess 29 and the connection hole 30 form a connection part with the lower structure 14 described later.

  As shown in FIG. 3, a switch panel 40 is embedded in the rear outer surface of the upper frame 21. The switch panel 40 includes a power switch 41 that turns on and off the main power source of the moving body 1 and a power lamp 42 that displays an on / off state of the main power source of the moving body 1.

  As shown in FIG. 6, a pair of metal support bases 51 </ b> L and 51 </ b> R are bonded to the inner wall of the lower inner space 26 </ b> D of the upper frame 21 so as to be positioned in the left-right direction with the connection recess 29 interposed therebetween. ing. Each of the support bases 51L and 51R has a horizontal surface that faces downward, extends in the front-rear direction, and has a female screw hole that opens downward.

  As shown in FIG. 4, the lower frame 22 has an upper opening 31 and a lower opening 32 and is formed in a cylindrical shape. The left and right side walls 33 of the lower frame 22 extend generally in the vertical direction and are parallel to each other. The front and rear walls 34A, 34B of the lower frame 22 bulge in the front-rear direction as it goes from the upper side to the lower side, and the lower part of the lower frame 22 is semicircular when viewed from the left-right direction. The lower part of the lower frame 22 that forms a semicircle defines an accommodation space 35 that accommodates the upper half of the traveling unit 3.

  The left and right side walls 33 are respectively formed with semicircular cutouts 36 continuing to the lower opening 32. The left and right cutouts 36 are arranged coaxially with each other with a horizontal axis. At the boundary portion between the notch 36 and the lower opening 32, one projecting piece 37 is formed on the front and rear so as to extend downward so as to extend the periphery of the notch 36. Ventilation holes 39 are formed in the upper portions of the front and rear walls 34A and 34B and in the portions forming the constricted portion 2A. The vent holes 39 are elongated through holes extending in the left-right direction, and a plurality of the vent holes 39 are arranged in parallel in the up-down direction.

  A pair of metal support bases 53L and 53R are bonded to the inner wall near the upper opening 31 in the left and right side walls 33 of the lower frame 22, respectively. Each support base 53 extends in the front-rear direction, and its upper surface is a horizontal plane. In the vicinity of the front and rear ends of each support base 53, female screw holes 54 (FIG. 11) penetrating in the vertical direction are formed.

  As shown in FIG. 5, a seating unit 4, a battery unit 10, and the like are mounted on the upper frame 21 to form an upper structure 13, and a traveling unit 3, an electrical unit 11, various types are mounted on the lower frame 22. Sensors 8, 9 and the like (FIGS. 4 and 8) are mounted to form the lower structure 14. The upper structure 13 and the lower structure 14 can be separated from each other.

<Configuration of lamp unit>
The lamp unit 400 includes a forward light 401, a reverse light 402, a leftward light 403, and a rightward light 404. Each of the forward light to the rightward lights 401 to 404 includes an LED substrate having a plurality of LEDs and a light-transmitting cover that covers the LED substrate. In this embodiment, for example, red light emitting diodes are used for the LEDs of the forward light to the right light 401 to 404, but the light emission color may be any color.

  As shown in FIG. 1, the forward light 401 has a substantially rectangular shape, and is attached to an intermediate portion in the vertical direction of the front wall 34 </ b> A of the lower frame 22 so as to extend in the vertical direction. More specifically, the forward light 401 is attached to a shoulder portion of a portion bulging forward of the front wall 34A, that is, a surface facing obliquely upward. In this way, the part to which the forward light 401 is attached faces obliquely upward, so that it can be visually recognized by the passenger of the moving body 1.

  As shown in FIG. 3, the reverse lamp 402 has a substantially rectangular shape, and is attached to an intermediate portion in the vertical direction of the rear wall 34 </ b> B of the lower frame 22 so as to extend in the vertical direction. The leftward traveling lamp 403 and the rightward traveling lamp 404 have a substantially square shape, and are attached to a position above the rearward traveling lamp 402 of the rear wall 34B of the lower frame 22 and displaced leftward or rightward.

  As shown in FIG. 5, each of the forward light to rightward light 401 to 404 is fitted into a through hole formed at a corresponding position of the lower frame 22 and is fixed by an adhesive. Various fixing methods can be used. The forward light to the right light 401 to 404 may be bonded to the outer surface of the lower frame 22 or may be fastened using screws or the like. The forward light to the right light 401 to 404 are connected to the control unit 5 by wiring, and light emission is controlled by the control unit 5.

<Configuration of the seating unit>
As shown in FIG. 7, the seating unit 4 includes a base body 61, a pair of left and right saddle arms 62L and 62R, and a pair of left and right saddles 63L and 63R. The base body 61 is disposed in the upper internal space 26 </ b> C through the upper opening 27 of the upper frame 21, and the upper wall closes the upper opening 27. The base main body 61 includes a support shaft 65 extending in the front-rear direction at the lower portion thereof.

  The support shaft 65 pivotally supports base end portions 66L and 66R of a pair of left and right saddle arms 62L and 62R. The saddle arms 62L and 62R extend from the base end portions 66L and 66R through the saddle mounting holes 28 of the upper frame 21, and the distal end portions 67L and 67R are positioned outside the upper frame 21. The left saddle arm 62L has a distal end portion 67L lower than the base end portion 66L, that is, a use position (deployed) that is located generally to the left with respect to the base end portion 66L from the storage position in the saddle storage portion 24. Position). Similarly, the right saddle arm 62R is moved from a retracted position in which the distal end portion 67R is located substantially below the proximal end portion 66R to a use position (deployed position) located substantially to the right relative to the proximal end portion 66R. And can be rotated. The left and right saddle arms 62L and 62R are each formed in a curved shape so as to protrude downward at the use position.

  The saddle arms 62L and 62R are connected to each other via a link mechanism (not shown). When one is in the storage position, the other is also in the storage position, and when one is in the use position, the other is also stored. It is designed to rotate in conjunction with the position. The base body 61 is provided with a lock mechanism (not shown). The locking mechanism selectively engages with the engagement holes provided in the saddle arms 62L and 62R in a state where the saddle arms 62L and 62R are located at the retracted position or the use position, thereby causing the saddle arms 62L and 62R to be engaged. Hold in the storage or use position.

  Saddles 63L and 63R are provided at the end portions 67L and 67R of the saddle arms 62L and 62R, respectively. Each saddle 63L, 63R includes support portions 69L, 69R connected to the tip portions 67L, 67R, and disc-shaped cushion portions 70L, 70R attached to the support portions 69L, 69R. One side surface of the cushion portions 70L and 70R is attached to the support portions 69L and 69R, and the other side surface forms a seating surface. In a state where the saddle arms 62L and 62R are located at the use positions, the cushion portions 70L and 70R are disposed above the support portions 69L and 69R, and the seating surfaces face upward. The left and right buttocks and thighs of the occupant (sitting person) are placed on the seating surfaces of the cushion parts 70L and 70R. In this way, the passenger's load is applied to the upper frame 21 via the saddles 63L and 63R, the saddle arms 62L and 62R, and the base body 61.

  In the state where the saddle arms 62L and 62R are located at the retracted positions, the support portions 69L and 69R of the saddles 63L and 63R are located within the saddle retractable portion 24, and the seating surfaces of the cushion portions 70L and 70R are left outward or right. The saddle storage unit 24 is closed by facing outward.

  On the upper wall forming the upper surface of the base body 61, a retractable handle 71 is provided for supporting the moving body 1 by an operator. When not in use, the handle 71 is stored in a handle storage portion 72 that is recessed in the upper wall of the base body 61, and is in a state indicated by a solid line in FIG. On the other hand, in use, as shown by a two-dot chain line in FIG. 2, the front and rear legs 71 </ b> A slide upward and the handle 71 protrudes above the base body 61. The operator can hold the handle 71 to lift and carry the movable body 1 or can support the movable body 1 while the operation is stopped to prevent its tilting.

<Configuration of traveling unit>
8 and 9, the traveling unit 3 includes a pair of left and right mount members 81L and 81R as support members, and a pair of left and right electric motors attached to the pair of left and right mount members 81L and 81R. 82L, 82R, wave gear devices 83L, 83R serving as speed reducers for decelerating and transmitting the outputs of the electric motors 82L, 82R, and drives rotated by the electric motors 82L, 82R via the wave gear devices 83L, 83R, respectively. The body 84L, 84R and the main wheel 85 rotated by the left and right drive bodies 84L, 84R are provided. Since the mount members 81L and 81R, the electric motors 82L and 82R, and the wave gear devices 83L and 83R are left-right symmetric, only the left configuration will be described, and the description of the right configuration will be omitted. Since the drive bodies 84L and 84R are partially different on the left and right, the description on the right side of the same configuration is omitted, and only the right side of the different configuration is also described.

  As shown in FIG. 8, the mount member 81L is a cylindrical member having a bottom portion 91L at one end and an opening at the other end, and a plurality of flange portions 92L extending radially outward at the opening end. I have. A through hole 93L is formed at the center of the bottom 91L of the mount member 81L. An electric motor 82L is disposed inside the cylindrical portion of the mount member 81L.

  The electric motor 82L is a brushless DC motor, and includes a cylindrical stator housing 95L having a stator coil (not shown) and the like, and a permanent magnet that is rotatably supported in the stator housing 95L. And a rotor shaft 96L extending outwardly of 95L. A flange portion 97L projects from the outer peripheral portion of the stator housing 95L in the radial direction. The flange portion 97L is bolted to the bottom portion 91L of the mount member 81L via a spacer 98L. Thereby, a space is formed between the flange portion 97L and the bottom portion 91L. In this way, the electric motor 82L is fixed to the mount member 81L so that the axis of the rotor shaft 96L matches the axis of the mount member 81L. The rotor shaft 96L passes through the through hole 93L of the mount member 81L and extends to the outside of the mount member 81L. A wave gear device 83L is provided at the tip of the rotor shaft 96L. A rotary encoder 9L is provided on the other end side of the rotor shaft 96L. The rotary encoder 9L may be a known one, and its casing is attached to the stator housing 95L, and detects the rotational position of the rotor shaft 96L.

  The wave gear device 83L has a well-known structure, and has a wave plug 101L as an input member having a high rigidity and an outer periphery formed in an elliptical shape, and a flexible wave fitted and fitted to the outer periphery of the wave plug 101L. A bearing 102L, a thin-walled cylindrical flexible external tooth member 103L that is fitted and fitted on the outer peripheral surface of the wave bearing 102L, and external teeth are formed on the outer peripheral surface, and external teeth of the external tooth member 103L on the inner peripheral surface And an internal gear member 104L as a high-rigidity and ring-shaped output member formed with meshing internal teeth. One side of the external tooth member 103L includes a flange portion 105L that passes through the through-hole 93L of the mount member 81L, extends into the cylindrical portion of the mount member 81L, and extends radially outward. The flange portion 105L is disposed between the bottom portion 91L of the mount member 81L and the flange portion 97L of the electric motor 82L. The wave plug 101L is coaxially connected to the rotor shaft 96L. When the wave plug 101L is rotated by the rotor shaft 96L, the internal gear member 104L is rotated at a reduced rotational speed. The internal tooth member 104L is connected to a drive disk 121L of a drive body 84L described later.

  As shown in FIGS. 8 to 9, the drive body 84L includes a drive disk 121L and a plurality of drive rollers 122L supported by the drive disk 121L. The drive disk 121L is a disk-shaped member, and has a disk portion 123L having a through-hole 133L at the center of rotation, and the entire circumference from the outer periphery of the disk portion 123L to one side in the rotation axis direction of the disk portion 123L. A large-diameter ring portion 124L projecting in the direction and a small-diameter ring portion 125L projecting coaxially with the rotation shaft on the other side in the rotation axis direction of the disk portion 123L from the disk portion 123L. The inner diameter of the large-diameter ring portion 124L of the drive disk 121L is formed larger than the cylindrical portion of the mount member 81L.

  The large-diameter ring portion 124L includes a plurality of drive rollers 122L that are rotatably supported by the roller shaft 126L in the circumferential direction at equal intervals. The drive roller 122L is made of a highly rigid material such as metal or hard plastic.

  Each drive roller 122L is arranged such that its rotation surface is neither perpendicular nor parallel to the axis (rotation center) of the drive disk 121L, and each rotation surface rotates about the axis of the drive disk 121L. They are arranged symmetrically. The positional relationship of the drive roller 122L with respect to the drive disk 121L approximates the positional relationship of the tooth portion with respect to the helical bevel gear. If a more detailed explanation is necessary, refer to the pamphlet of International Publication No. 2008/139740. The position of the roller shaft 126L is adjusted so that the outer peripheral portion of the drive roller 122L protrudes outward from the outer peripheral surface of the large-diameter ring portion 124L.

  Here, the right drive disk 121R and the left drive disk 121L are different in the structure of the small-diameter ring portions 125L and 125R. The inner diameter of the small diameter ring portion 125R of the right drive disk 121R is formed larger than the outer diameter of the small diameter ring portion 125R of the left drive disk 121L. The other configuration of the right drive disk 121R is the same as that of the left drive disk 121L.

  The drive disk 121L is rotatably supported on the outer peripheral portion of the cylindrical portion of the mount member 81L via the cross roller bearing 135L at the inner peripheral portion of the large diameter ring portion 124L. In this state, the axis (rotary axis) of the drive disk 121L is coaxial with the axis of the mount member 81L. The cross roller bearing 135L is a rolling bearing that can support a radial load and an axial load (thrust load). The cross roller bearing 135L is prevented from coming off by fastening rings 137L and 138L fastened to the drive disk 121L and the mount member 81L, respectively. With this configuration, the drive disk 121L is fixed at a relative position with respect to the mount member 81L.

  With the drive disk 121L supported by the mount member 81L, the wave gear device 83L is disposed in the through hole 133L of the disk portion 123L of the drive disk 121L. The inner gear member 104L of the wave gear device 83L is bolted to the disc portion 123L of the drive disk 121L at the outer periphery thereof. With the above configuration, the output of the electric motor 82L is transmitted to the drive disk 121L after being decelerated via the wave gear device 83L.

  The left and right drive disks 121L and 121R are provided with small-diameter annular portions 125L and 125R coaxially with a cross roller bearing 140 interposed therebetween. The cross roller bearing 140 is fitted to the outer peripheral portion of the small diameter ring portion 125L of the left drive disk 121L and is also fitted to the inner peripheral portion of the small diameter ring portion 125R of the right drive disk 121R. The cross roller bearing 140 is prevented from coming off by fastening rings 141 and 142 respectively fastened to the small diameter ring portion 125L of the left drive disk 121L and the small diameter ring portion 125R of the right drive disk 121R. With this configuration, the relative positions in the axial direction of the left and right drive disks 121L and 125R are fixed to each other.

  With the above configuration, the axis of the left and right mount members 81L and 81R, the axis of the left and right electric motors 82L and 82R (rotation center), the center of rotation of the left and right wave gear devices 83L and 83R, and the axis of the left and right drive disks 121L and 121R (Rotation center) are all arranged on the same axis. Hereinafter, these coincident axes are referred to as the rotation axis A of the traveling unit 3.

  In a state where the left and right drive disks 121L and 121R are coupled (that is, a state where the left and right drive bodies 84L and 84R are assembled), the left and right drive rollers 122L and 122R are disposed at positions separated by a predetermined distance. A main wheel 85 is disposed between the left and right drive rollers 122L and 122R.

  The main wheel 85 includes an endless annular ring body 161 formed of a prismatic body, a plurality of inner sleeves 162 fitted on the outer periphery of the ring body 161, and ball bearings 163 on the outer periphery of each inner sleeve 162. And a plurality of cylindrical driven rollers 164 supported so as to be rotatable therethrough. The driven roller 164 includes a metal cylindrical portion 164A that is fitted to the outer peripheral portion of the ball bearing 163, and a rubber cylindrical portion 164B that is vulcanized and bonded to the outer peripheral surface of the metal cylindrical portion 164A. The material of the rubber cylindrical portion 164B is not limited to rubber, and may be another resin material having flexibility. The rubber cylindrical portion 164B of the driven roller 164 contacts the road surface when the moving body 1 is in use (running state).

  A plurality of driven rollers 164 are provided in the ring direction (circumferential direction) of the annular body 161 together with the inner sleeve 162, and form the outer end surface of the main wheel 85. Each driven roller 164 is rotatable around a rotation axis parallel to the tangential direction of the annular body 161 at the position where the driven roller 164 is disposed. The rotation about the rotation axis parallel to the tangential direction of the annular body 161 of the driven roller 164 is called rotation. A disc-shaped cover 166 is mounted between the adjacent driven rollers 164 to prevent foreign matter from getting caught in the ball bearing 163.

  The inner diameter of the main wheel 85 formed by the driven roller 164 is set smaller than the outer diameter of the drive bodies 84L and 84R formed by the drive rollers 122L and 122R. On the other hand, the outer diameter of the main wheel 85 is formed larger than the outer diameter of the drive bodies 84L and 84R. Here, the outer diameter and inner diameter of the main wheel 85 are determined with respect to a virtual line connecting the driven rollers 164. Similarly, the outer diameters of the drive bodies 84L and 84R are determined with respect to an imaginary line connecting the drive rollers 122L and 122L. By combining the left and right drive bodies 84L and 84R with the main wheel 85 interposed, the main wheel 85 is sandwiched between the left and right drive bodies 84L and 84R.

  In a state where the main wheel 85 is assembled to the left and right drive bodies 84L and 84R, the outer peripheral surface of the rubber cylindrical portion 164B of the driven roller 164 and the outer peripheral surface of the left and right drive rollers 122L and 122R come into contact with each other by friction. The rotational force (propulsive force) of the drive disks 121L and 121R is transmitted to the driven roller 164 via the drive rollers 122L and 122R.

  The number relationship between the driven roller 164 and the left and right drive rollers 122L and 122R is such that at least one pair of left and right drive rollers 122L and 122R is in contact with each of the driven rollers 164 that are in contact with the road surface at the bottom. Is set to Thereby, the rotational force of the drive disks 121L and 121R is applied to each of the driven rollers 164 that are in contact with the road surface via the drive rollers 122L and 122R.

  In the traveling unit 3 according to the present embodiment, when the left and right drive disks 121L and 121R have different rotational directions or (and) rotational speeds by the left and right electric motors 82L and 82R, the left and right drives are driven by the drive rollers 122L and 122R. A component force in a direction orthogonal to the circumferential (tangential) force due to the rotational force of the disks 121L and 121R acts on the contact surface between the left and right drive rollers 122L and 122R and the driven roller 164. Due to this component force, the driven roller 164 rotates (rotates) around its own central axis.

  The rotation of the driven roller 164 is determined by the rotational speed difference between the left and right drive disks 121L and 121R. For example, when the left and right drive disks 121L and 121R are rotated in the opposite directions at the same speed, the driven roller 164 does not rotate (revolves) in the circumferential direction of the main wheel 85, and only the driven roller 164 rotates. That is, the main wheel 85 generates a driving force (propulsive force) in the left-right direction.

  On the other hand, when the rotational directions and rotational speeds of the left and right drive disks 121L and 121R are the same, the driven roller 164 rotates in the circumferential direction of the main wheel 85 without rotating, and the main wheel 85 rotates. . That is, the main wheel 85 generates a driving force (propulsive force) in the front-rear direction. This rotation of the driven roller 164 in the circumferential direction of the main wheel 85 (rotation around the center of the main wheel 85) is called revolution.

  As described above, by combining the rotation and revolution of the driven roller 164 at an arbitrary ratio, the traveling unit 3 can generate a driving force in any direction of front, rear, left and right.

  Next, a structure for fixing the traveling unit 3 to the lower frame 22 will be described. As shown in FIG. 4, the traveling unit 3 has its upper half disposed inside the accommodation space 35 of the lower frame 22 so that its axis A is parallel to the left-right direction. In this state, as shown in FIG. 8, the flange portions 92 </ b> L and 92 </ b> R of the left and right mount members 81 </ b> L and 81 </ b> R of the traveling unit 3 37 abuts on the inner surface.

  As shown in FIGS. 4 and 8, left and right step bases 180L and 180R are provided outside the left and right side walls 33 of the lower frame 22, respectively. Each of the step bases 180L and 180R is formed of a metal material and has a ring shape, and is formed in a shape along the peripheral edge of the notch 36 and the two protruding pieces 37. Bolt holes are formed at appropriate positions in the flange portions 92L and 92R of the left and right mount members 81L and 81R, and appropriate positions corresponding to the peripheral portions of the notch 36 and the two projecting pieces 37 and the bolt holes of the step bases 180L and 180R. A through hole is formed in. The step bases 180L and 180R and the flange portions 92L and 92R of the left and right mounting members 81L and 81R of the traveling unit 3 are bolted together with the peripheral portion of the cutout portion 36 and the two protruding pieces 37 interposed therebetween. Thereby, the step bases 180L and 180R and the traveling unit 3 are fixed to the lower frame 22. When the traveling unit 3 is attached to the lower frame 22, annular traveling unit covers 189L and 189R may be interposed between the left and right mounting members 81L and 81R and the lower frame 22, respectively. The traveling unit covers 189L and 189R cover the main wheels 85 and the side portions of the driving bodies 84L and 84R, and prevent foreign matter from entering.

  As shown in FIG. 8, the lower inner surface of each of the step bases 180L and 180R passes through the space formed between the projecting pieces 37 and abuts with the mount members 81L and 81R. On the other hand, tongue-shaped projecting portions 181L and 181R projecting in the left-right direction and hanging downward are formed from the lower outer surfaces of the step bases 180L and 180R. The protrusions 181L and 181R function as heat sinks, and heat generated by the electric motors 82L and 82R of the traveling unit 3 is transmitted to the step bases 180L and 180R via the mount members 81L and 81R, and is mainly transmitted from the protrusions 181L and 181R. Heat is dissipated to the outside.

  Steps 183L and 183R are rotatably supported by the protrusions 181L and 181R. Each of the steps 183L and 183R is supported by the protrusions 181L and 181R with a pivot shaft extending substantially in the front-rear direction at the base end, and the front end thereof is positioned substantially above the base end, and the lower frame It is possible to rotate between a storage position that is substantially along the position 22 and a use position in which the distal end portion is located substantially in the left-right direction of the base end portion and protrudes from the lower frame 22.

  As shown in FIG. 4, step load sensors 8 are attached to the outer surfaces of the left and right step bases 180L and 180R. The step load sensor 8 is a known strain gauge, and detects strains of the step bases 180L and 180R when a load is applied to the steps 183L and 183R.

  As shown in FIGS. 1 to 4, a lower cover 185 for concealing the lower half of the traveling unit 3 except for the ground contact portion with the road surface is attached to the lower end portion of the lower frame 22. Further, side covers 186L and 186R for concealing the step bases 180L and 180R except for the protrusions 181L and 181R and the steps 183L and 183R are attached to the outer surfaces of the left and right side walls 33 of the lower frame 22. ing.

<Configuration of electrical unit>
As shown in FIG. 10, the control unit 5, the upper load sensor 6, and the inclination sensor 7 constituting the electrical unit 11 are attached to and integrated with an electrical mount frame 202 that is a skeleton. In the following description of the electrical unit 11, the front-rear, left-right, and vertical directions are set based on the state in which the electrical unit 11 is attached to the lower frame 22.

  The electrical mount frame 202 is a frame member having a substantially rectangular shape and having a space in the center. As shown in FIG. 11, the electrical mount frame 202 is set to have a length in the left-right direction so that the left and right support bases 53L, 53R of the lower frame 22 can be bridged. In other words, the electrical mount frame 202 is set to a size that allows its peripheral edge to be placed on the left and right support bases 53L and 53R. When mounted on the left and right support bases 53L and 53R, the electrical mount frame 202 includes through holes 203 that penetrate vertically in positions corresponding to the female screw holes 54 of the left and right support bases 53L and 53R. Yes.

  The upper load sensor 6 includes a three-axis force sensor that can detect a force in the z-axis direction (vertical direction) and a moment around the x-axis (front-rear direction) and the y-axis (left-right direction). The upper load sensor 6 has a body part 205 containing a sensor base, and an input shaft 206 protruding upward from the body part 205. The input shaft 206 is formed in a cylindrical shape, and receives an external force to be detected. A male screw groove is formed on the outer periphery of the input shaft 206 from the proximal end to the distal end. The body portion 201 is placed on the electrical mount frame and fastened with screws.

  A plate-like connecting member base 210 is attached to the outer peripheral portion of the base end portion of the input shaft 206. The connecting member base 210 has a female screw hole in the center, and this female screw hole is fixed to the input shaft 206 by being screwed into a male screw groove of the base end portion 206B. Note that the tip of the input shaft 206 protrudes above the connecting member base 210 in a state where the connecting member base 210 is attached to the input shaft 206.

  A first connector base 211 extending forward is screwed to the front portion of the connecting member base 210. A second connector base 212 extending rearward is screwed to the rear portion of the connecting member base 210.

  A first connector 214 provided at one end of a wiring extending from a power supply board 242 described later is screwed to the first connector base 211. The first connector base 211 is provided with columnar first guide pins 215 that protrude upward.

  A second connector 216 provided at one end of a wiring extending from a control board 241 described later is screwed to the second connector base 212. Further, the second connector base 212 is provided with columnar second guide pins 217 that protrude upward.

  The tilt sensor 7 is a known gyroscope. The inclination sensor 7 is disposed so as to extend from the inside of the electrical mount frame 202 to the lower portion, and is screwed to the electrical mount frame 202. The tilt sensor 7 detects the tilt angle from the vertical direction with reference to the vertical direction (vertical direction). As will be described later, the inclination sensor 7 functions as an operation input detection unit that outputs an inclination angle as an operation input signal for an operation input of a passenger's weight shift to the control circuit 261.

  As shown in FIG. 10, the control unit 5 includes a control board 241, a power board 242, a left motor driver board 243, a right motor driver board 244, an I / O interface board 245, and a blower fan 247. And.

  The control board 241 has a CPU constituting a microcomputer and is provided with a control circuit 261 used for controlling the electric motors 82L, 82R and the like. The control board 241 is attached to the rear of the electrical mount frame 202 via a spacer. The control board 241 extends in the up-down direction so that the board surface faces in the front-rear direction, and extends downward from the rear of the electrical mount frame 202.

  The power supply board 242 is a board provided with a voltage control circuit (not shown) that converts the power supply voltage supplied from the battery unit 10 into a predetermined voltage. The power supply board 242 is attached below the electrical mount frame 202 so as to extend in the front-rear direction and the left-right direction by a connecting member 251 extending downward from the front end of the electrical mount frame 202. Further, the rear end of the power supply board 242 is connected to the lower end of the control board 241 via a connecting member 252.

  The left motor driver board 243 and the right motor driver board 244 are boards including left or right driver circuits (inverter circuits) 253 and 254 that are used for PWM control of the electric motors 82L and 82R, respectively. The left motor driver board 243 is attached below the power board 242 in parallel with the power board 242 via a spacer. The right motor driver board 244 is attached below the left motor driver board 243 with a spacer in parallel with the left motor driver board 243. With this configuration, an air passage extending in the front-rear direction is formed between the power supply board 242 and the left motor driver board 243 and between the left motor driver board 243 and the right motor driver board 244.

  The I / O interface board 245 is a board provided with an input interface circuit 265 and an output interface circuit 266. The I / O interface board 245 is attached in parallel to the control board 241 behind the control board 241 via a spacer.

  The blower fan 247 is an axial fan. The blower fan 247 is fastened to the lower end of the connecting member 251 and is disposed in front of the left motor driver board 243 and the right motor driver board 244. At this time, it arrange | positions so that the suction inlet of the ventilation fan 247 may face front, and the discharge outlet faces back.

  Next, a structure for fixing the electrical unit 11 to the lower frame 22 will be described. As shown in FIG. 11, a flexible rubber bush 270 is attached to each through-hole 203 of the electrical mount frame 202. The rubber bushing 270 has a cylindrical portion that is open at both ends, and a flange portion that is formed radially outward at one end and the other end of the cylindrical portion. In the state where the rubber bush 270 is mounted in each through hole 203, each flange portion covers the periphery of the upper end and the lower end of the through hole 203. The electrical mount frame 202 to which the rubber bushing 270 is attached is placed on the left and right support bases 53L and 53R of the lower frame 22, the bolts 272 are inserted into the rubber bushings 270, and the tip ends of the bolts 272 are supported by the support bases 53L and 53R. These female screw holes 54 are screwed. As described above, the electrical mount frame 202 is supported by the support bases 53L and 53R via the rubber bush 270. With the above fixing structure, vibration from the lower frame 22 is buffered (blocked) by the rubber bushing 270 and is not easily transmitted to the electrical unit 11.

  When the electrical unit 11 is attached to the lower frame 22, the electrical unit 11 is located in the constricted portion 2 </ b> A of the lower frame 22, and the blower fan 247, the left motor driver board 243, and the right motor driver board 244 are arranged on the front and rear walls of the lower frame 22. It arrange | positions between the vent holes 39 formed in 34A, 34B. With this configuration, the cooling air introduced from the front vent hole 39 passes through the blower fan 247, passes through the vent path formed between the left motor driver board 243 and the right motor driver board 244, and is rearward. The air vent 39 is discharged. For this reason, it is possible to efficiently cool the left and right motor driver boards 243 and 244 that generate a large amount of heat among the electrical unit 11. Further, since the electrical unit 11 is disposed in the constricted portion 2A of the lower frame 22, the flow path length between the vent holes 39 is short, and the electrical unit 11 can be efficiently cooled.

<Configuration of battery unit>
As shown in FIGS. 5 and 6, there are two battery units 10 in the front and rear, and each battery unit 10 includes a plurality of batteries 281 and one battery management board 282. The plurality of batteries 281 in each battery unit each have a columnar shape, and are connected to each other on a columnar side surface to form a set. Each battery management board 282 is formed with a battery management circuit 285 including a CPU constituting a microcomputer and a memory, and is connected to each battery 281. The battery management circuit 285 performs charge / discharge of each battery 281 and selection of the battery 281 to be used.

  Each battery unit 10 is inserted into the front inner space 26A and the rear inner space 26B of the upper frame 21 through the lower opening 25 of the upper frame 21, and is inserted into the support bases 51L and 51R of the upper frame 21, respectively. It is supported from below by a battery bracket 291 that is screwed.

  A third connector base 294 extending forward is screwed to the front portion of the battery bracket 291. A fourth connector base 295 extending backward is screwed to the rear portion of the battery bracket 291.

  A third connector 297 provided at one end of the wiring extending from the battery management board 282 is screwed to the third connector base 294. The third connector 297 is formed in a complementary shape so that it can be coupled to the first connector 214. The third connector base 294 is provided with a first guide hole 298 extending in the vertical direction.

  A fourth connector 301 provided at one end of the wiring extending from the switch panel 40 is screwed to the fourth connector base 295. The fourth connector 301 is formed in a complementary shape so that it can be coupled to the second connector 216. The fourth connector base 295 is provided with a second guide hole 302 extending in the vertical direction.

<Connection structure of upper structure and lower structure>
11 and FIG. 11 show a connecting structure of the upper structure 13 composed of the upper frame 21, the seating unit 4, the battery unit 10 and the like and the lower structure 14 composed of the lower frame 22, the traveling unit 3, the electrical unit 11 and the like. This will be described with reference to FIG. In the perspective view of FIG. 11, a part of the configuration is removed for illustration. 11 and 12, the lower opening 25 of the upper frame 21 and the upper opening 31 of the lower frame 22 are arranged to face each other, and the lower structure is formed in the first guide hole 298 of the upper structure 13. The first guide pin 215 of the body 14 is inserted, and the second guide pin 217 of the lower structure 14 is inserted into the second guide hole 302 of the upper structure 13 to combine the upper structure 13 and the lower structure 14. . In this state, the first connector 214 is connected to the third connector 297 and the second connector 216 is connected to the fourth connector 301. Thereby, the upper structure 13 and the lower structure 14 are electrically connected, and power supply and control signal transmission / reception can be performed between them.

  The lower surface of the connection recess 29 of the upper frame 21 abuts on the upper surface of the connection member base 210 connected to the input shaft 206 of the upper load sensor 6, and the distal end portion of the input shaft 206 has the connection hole 30 of the connection recess 29. It penetrates from below to above. In this state, the nut 314 is screwed into the distal end portion of the input shaft 206, and the bottom portion of the connection recess 29 is sandwiched between the connecting member base 210 and the nut 314. In this way, the upper frame 21 and the input shaft 206 of the upper load sensor 6 are connected. At this time, the peripheral edge that defines the upper opening 31 of the lower frame 22 is formed to have a slightly smaller diameter than the peripheral edge that defines the lower opening 25 of the upper frame 21, thereby defining the upper opening 31. The peripheral edge portion is loosely fitted inside the peripheral edge portion that defines the lower opening 25 of the upper frame 21.

  With the above connection structure, the upper structure 13 is supported by the lower structure 14 via the upper load sensor 6. Therefore, when the occupant sits on the seating unit 4, the occupant's load is input to the input shaft 206 of the upper load sensor 6 through the upper structure 13.

<Inverted pendulum control system configuration>
As shown in FIG. 13, the control circuit 261 includes an upper load sensor 6, a tilt sensor 7, a step load sensor 8, rotary encoders 9 </ b> L and 9 </ b> R, and a battery management circuit 285 via an input interface circuit 265. A signal is input. The control circuit 261 performs inverted pendulum control, and PWM for driving the left driver circuit 253 and the right driver circuit 254 to maintain the moving body 1 in an inverted state based on various signals that are input. Generate a signal.

  The upper load sensor 6 outputs a signal corresponding to the load input to the input shaft 206 to the control circuit 261. The step load sensor 8 outputs a signal corresponding to the load applied to the steps 183L and 183R to the control circuit 261. The inclination sensor 7 outputs a signal corresponding to its own inclination with respect to a predetermined reference line to the control circuit 261. The left and right rotary encoders 9L and 9R output signals corresponding to the rotational positions of the rotor shafts 96L and 97R to the control circuit 261.

  The control circuit 261 calculates a load input to the input shaft 206 based on a signal from the upper load sensor 6, compares the calculated load with a predetermined threshold value, and the passenger sits on the seating unit 4. It is determined whether or not. Further, the control circuit 261 calculates a load applied to the steps 183L and 183R based on a signal from the step load sensor 8, compares the calculated load with a predetermined threshold value, and the passenger enters the steps 183L and 183R. Determine whether you are on foot.

  The control circuit 261 determines whether or not there is a passenger on the moving body 1 based on the determination result of whether or not the user sits on the seating unit 4 and the determination result of whether or not he / she is on the steps 183L and 183R. Determine the boarding posture of the passenger. In the mobile body 1 according to the present embodiment, as shown in FIG. 14, the occupant stands on the sitting boarding posture (A in the figure) where he / she sits on the seating unit 4 and on the left and right steps 183L and 183R. The seating unit 4 in the retracted position can be in a standing riding posture in which the cushion portion of the seating unit 4 is put between the knee portion and the thigh portion. If it is determined that the user is not seated on the seating unit 4 and it is determined that the foot is not on the steps 183L and 183R, it is determined that there is no passenger in the moving body 1 (non-boarding state). When it is determined that the user is seated on the seating unit 4, it is determined that the occupant is in the seated boarding posture (sitting boarding state). If it is determined that the user is not seated on the seating unit 4 and it is determined that the step 183L or 183R is on the foot, the passenger is riding in the standing boarding posture on the moving body 1 (standing boarding state). It is determined.

  The control circuit 261 calculates the rotation speeds of the left and right electric motors 82L and 82R based on the signals from the rotary encoders 9L and 9R, and uses it for driving control of the left and right electric motors 82L and 82R.

  Based on the signal from the tilt sensor 7, the control circuit 261 calculates a tilt angle θ that is an angle formed by the axis of the lower structure 14 and the vertical axis C by a predetermined calculation process. As shown in FIG. 3, the axis of the lower structure 14 is a line along the major axis of the lower frame 22 (that is, a line extending in the vertical direction). As for the inclination angle θ, the front-rear direction is the x-axis (front direction is positive and the rear direction is negative), the left-right direction is y-axis (right direction is positive, left direction is negative), and the vertical direction is z-axis (up Assuming an xyz coordinate system in which the direction is positive and the downward direction is negative, it is expressed by an x component θx that is an inclination angle in the x-axis direction and a y component θy that is an inclination angle in the y-axis direction. The Further, the control circuit 261 calculates the tilt angular velocity θd by differentiating the tilt angle θ with respect to time. The inclination angular velocity θd is represented by an x component θdx that is an inclination angular velocity in the x-axis direction and a y component θdy that is an inclination angular velocity in the y-axis direction.

  Further, the control circuit 261 includes the inclination angular velocity θd, the height of the entire center of gravity including the moving body 1 and the passenger, the radius of the rotating wheel (the radius of the annular body 161 in the front-rear direction, and the driven roller in the left-right direction). 164), a predetermined calculation is performed based on the rotational speed of the rotating wheel, and the center-of-gravity speed Vb is calculated. The center-of-gravity speed Vb is represented by a longitudinal center-of-gravity speed Vbx that is a component in the x-axis direction and a left-right center-of-gravity speed Vby that is a component in the y-axis direction. In the mobile body 1 according to the present embodiment, as shown in FIG. 14, a passenger can board in a seated boarding state (A in the figure) or a standing boarding state (B in the figure). Therefore, the overall center-of-gravity height including the mobile body 1 and the passenger changes in a non-boarding state, a seated boarding state, and a standing boarding state in which the passenger is not on the mobile body 1.

  The control circuit 261 performs inverted pendulum control based on the tilt angle θ, the tilt angular velocity θd, and the center of gravity velocity Vb. In the inverted pendulum control, the control target values of the left and right electric motors 82L and 82R are calculated so that the tilt angle coincides with the reference angle θt that is the control target value, and the tilt angular velocity θd and the center of gravity velocity Vb become zero. The reference angle θt is preset for each state of the mobile body 1 in the non-boarding state, the seated boarding state, and the standing boarding state. Then, the control circuit 261 generates a PWM signal for controlling the left driver circuit 253 and the right driver circuit 254 based on the control target value. The left driver circuit 253 and the right driver circuit 254 supply power to the left and right electric motors 82L and 82R according to the PWM signal, and drive the left and right electric motors 82L and 82R.

  With the above configuration, the moving body 1 is maintained in an inverted state in which the axis coincides with the reference angle θt by the inverted pendulum control. The traveling operation (operation input) to the moving body 1 is performed by shifting the weight of the passenger. By moving the weight in the direction in which the occupant wants to travel, the axis of the lower structure 14 tilts in the direction in which he wants to travel. Then, the tilt sensor 7 as the operation input detecting means outputs an operation input signal corresponding to the tilt angle θ to the control circuit 261, the control circuit 261 calculates the tilt angle θ, and the tilt angle θ is set as a reference angle in each boarding state. The traveling unit 3 is driven so as to coincide with θt. As a result, the moving body 1 moves in the direction that the passenger wants to travel. At this time, the inclination angular velocity θd changes according to the weight movement speed of the passenger. As described above, the operation input to the moving body 1 is the weight shift of the occupant, and the tilt sensor 7 as the operation input detection unit detects the operation input and generates an operation input signal.

  Next, the light emission control procedure of the lamp unit 400 will be described with reference to the flowchart of FIG. As shown in FIG. 15, first, the control circuit 261 calculates the longitudinal center-of-gravity speed Vbx and the left-right center-of-gravity speed Vby based on the signal from the tilt sensor 7 as the operation input detection means (S1). Next, the control circuit 261 refers to the lamp selection map (FIG. 16) stored in advance based on the front / rear center-of-gravity velocity Vbx and the left / right center-of-gravity velocity Vby, and determines the lamps (forward lamp 401 to rightward lamp 404) to emit light. Select (S2). Then, the control circuit 261 causes the selected lamp to emit light (S3).

<Effects of Embodiment>
As described above, since the moving body 1 travels (moves) in the direction in which the tilt angular velocity θd is generated, the control circuit 261 causes the lamp unit 400 to emit light based on the center of gravity velocity Vb calculated based on the signal from the tilt sensor 7. Thus, the lamp corresponding to the traveling direction emits light, and the people around the moving body 1 can predict the moving direction of the moving body 1 from the light emission state of the lamp unit 400. At this time, the occupant does not need to separately operate the direction indicator (winker) as in the conventional vehicle.

  In the map shown in FIG. 16, the absolute value of the left / right center-of-gravity speed Vby for causing the left-handed lamp 403 and the right-handed lamp 404 to emit light increases as the front / rear center-of-gravity speed Vbx increases in the forward direction. As a result, when the ratio of the traveling speed in the left-right direction to the traveling speed in the forward direction becomes small, the notification of the left-handed lamp 403 or the right-handed lamp 404 can be prevented. Further, when the longitudinal center-of-gravity velocity Vbx increases in the forward direction, the passenger can be alerted by the forward light 401. It should be noted that when the traveling speed in the left-right direction unintended by the occupant arises due to the traveling of the moving body 1, the left-handed lamp 403 and the right-handed light 403 are prevented from emitting light. A dead zone is provided between the thresholds for causing the lamp 404 to emit light.

<Partly modified embodiment>
In the above-described embodiment, the lamp that emits light is selected based on the center of gravity speed Vb. However, the movable body 1 is provided with an operation input unit that does not change the center of gravity speed, such as joystick, and is generated by the operation of this operation input unit. A lamp that emits light may be selected based on the target center-of-gravity velocity Vt. In this case, the control circuit 261 drives the left and right electric motors 82L and 82R based on the inverted pendulum control so that the center of gravity speed Vb matches the target center of gravity speed Vt.

  Since the gravity center speed Vb is generated in the same direction as the target gravity center speed Vt, the lamp according to the traveling direction can be caused to emit light by causing the lamp unit 400 to emit light based on the target gravity center speed Vt.

  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. The shape and layout of the forward light 401 to the rightward light 404 can be changed as appropriate. For example, the leftward light 403 and the rightward light 404 may be provided under the left and right saddles 63L and 63R. In this case, the distance between the left advancing lamp 403 and the right advancing lamp 404 is increased, and the left advancing lamp 403 and the right advancing lamp 404 are disposed further to the side of the moving body 1, so that the left advancing or the right advancing is performed. It becomes easy to recognize. The left-handed lamp and the right-handed lamp are configured as one lamp with a plurality of light emitting parts arranged in the left-right direction. The light-emitting parts are lit in order from the right to the left when moving left, and the light-emitting parts are turned on when moving right. It is good also as a structure which is made to light in order from the left side to the right side. The lamp is not limited to an LED, and a known light bulb (bulb) can be applied. Further, the notifying means may be not only a lamp such as an LED that visually alerts, but also a generating device such as a sound or warning sound that alerts auditorily.

  In the above embodiment, the lamp that emits light is selected based on the gravity center speed Vb or the target gravity center speed Vt. However, the lamp that emits light may be selected based on the inclination angle θ or the inclination angular velocity θd of the moving body 1.

  DESCRIPTION OF SYMBOLS 1 ... Inverted pendulum type moving body, 2 ... Frame (base | substrate), 3 ... Traveling unit, 4 ... Seating unit, 5 ... Control unit, 5 ... Inverted pendulum control unit (control means), 6 ... Load sensor, 7 ... Inclination sensor (Operation input detecting means) 10 ... battery unit, 11 ... electrical unit, 13 ... upper structure, 14 ... lower structure, 21 ... upper frame, 22 ... lower frame, 24 ... saddle storage, 29 ... connection recess, 36: Notch, 63L, 68R ... Saddle, 82L, 82R ... Electric motor, 84L, 84R ... Drive body, 85 ... Main wheel, 121L, 121R ... Drive disk, 122L, 122R ... Drive roller, 161 ... Ring body, 164 ... driven roller, 180L, 180R ... step base, 183L, 183R ... step, 261 ... control circuit, 253 ... left driver circuit 254 ... Right driver circuit, 265 ... Input interface circuit, 266 ... Output interface circuit, 281 ... Battery, 285 ... Battery management circuit (power supply control means), 400 ... Lamp unit (notification means), 401 ... Forward light, 402 ... Reverse drive Light, 403 ... Left-handed light, 404 ... Right-handed light

Claims (3)

An inverted pendulum type moving body,
A base that extends in the vertical direction and has a constricted portion over the entire circumference in the center in the vertical direction, and is divided into a lower frame and an upper frame in the constricted portion;
A seating unit provided on top of the base;
A traveling unit that is provided on the base body and travels the base body in an arbitrary direction including a front-rear direction and a left-right direction on the floor surface;
An operation input detection means provided on the base body for generating an operation input signal for changing a travel direction and a travel speed of the base body;
A target value that is provided on the base body and sets a target value related to the travel direction and travel speed of the travel unit in accordance with the operation input signal, and matches the travel direction and travel speed of the base body with the travel direction and travel speed of the target value. Control means for controlling the driving of the traveling unit,
An informing means that is a lamp unit provided on the base,
The notification means has a forward light provided on a shoulder portion facing obliquely above the front wall of the lower frame,
The inverted pendulum type moving body characterized in that the control means controls the operation of the notification means based on the operation input signal or the target value relating to the traveling direction.   2. The inverted pendulum type moving body according to claim 1, wherein the control unit further controls the operation of the notification unit based on the operation input signal relating to a traveling speed or the target value.   In the control means, the absolute value of the traveling speed in the left-right direction of the operation input signal or the target value increases as the absolute value of the traveling speed in the front-rear direction of the operation input signal or the target value increases. The inverted pendulum type moving body according to claim 2, wherein the informing means is operated when a threshold value is exceeded.

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