JP6252463B2 - Inverted motorcycle - Google Patents

Description

  The present invention relates to an inverted two-wheeled vehicle that detects a person's boarding and performs inverted control.

  Conventionally, as a technology in such a field, there is JP 2014-088054 A. The inverted moving body described in this publication includes a step sensor unit that individually detects the placement of one or the other foot of the occupant, a vehicle state calculation unit that detects that the vehicle body has been moved by the inversion control, And an inverted control calculation unit that performs posture control in the inverted state.

  In this inverted type moving body, when the movement of the vehicle body is detected in the vehicle state calculation unit when the step sensor unit detects the placement of one foot of the passenger, the inverted control calculation unit The target posture is corrected so that the inclined posture becomes the target posture in the moving direction. Thereby, even if it is a case where an inverted type mobile body inclines at the time of a person's boarding, a movement of an inverted type mobile body can be suppressed and it can board on an inverted type mobile body easily.

Japanese Patent Application Laid-Open No. 2014-080854

  However, in the conventional inverted mobile body described above, a person's boarding is detected using a plurality of step sensors. Here, if the number of sensors increases, the failure component occurrence rate increases, so that the maintenance cost increases and the wiring becomes complicated. In addition, when the sensor is broken, it may be erroneously detected whether or not a person is on the inverted mobile body.

Here, a large number of boarding detection sensors for determining boarding are provided, and when one boarding detection sensor shows a value different from that of many other boarding detection sensors, it may be determined that a failure has occurred. However, in many cases, it is structurally impossible for the boarding detection sensor to prevent erroneous detection by applying an equal weight regardless of where the foot is placed on the riding section. Further, in this case, false detection may be caused by an unnatural way of the person with lack of balance. Here, in the inverted type moving body that changes the state of the inverted control according to the person's boarding state, an erroneous operation of the boarding state may occur, thereby causing an unintended operation.
An object of the present invention is to provide an inverted two-wheeled vehicle that reliably detects boarding of a person and shifts to an inverted state.

An inverted two-wheeled vehicle according to the present invention is an inverted two-wheeled vehicle that performs an inverted control when a main power source is ON, and includes a riding part on which a person is boarded, and one or more that detects boarding of a person on the riding part. Boarding detection sensors, a state determination unit for determining the ON / OFF state of the boarding detection sensors, and after the main power source is turned from OFF to ON, all the boarding detection sensors are in an OFF state by the state determination unit. A control unit that starts upside-down control when it is determined that the state has been turned ON.
As a result, it is possible to detect abnormalities of the sticking OFF of the boarding detection sensor and the sticking of the ON, and to prevent the inversion control from being started when the abnormality occurs.

  Accordingly, it is possible to reliably detect boarding and shift to the inverted state.

1 is a block diagram illustrating a configuration of an inverted two-wheel vehicle according to a first embodiment. It is a figure of the inverted two-wheeled carriage when the inversion control concerning Embodiment 1 is not performed. It is a figure of an inverted two-wheeled carriage when the inverted control according to the first embodiment is performed. 3 is a flowchart of the operation of the inverted two-wheel vehicle according to the first embodiment. It is a block diagram which shows the structure of the inverted two-wheeled carriage concerning Embodiment 2. FIG. 6 is a flowchart of the operation of the inverted two-wheel vehicle according to the second embodiment.

Embodiment 1
Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, the inverted moving carriage 1 includes a main power source 10, a pair of driving wheels 11, a driving unit 12 that drives the driving wheels 11, a riding unit 13 on which a person rides, and a riding unit 13. A boarding detection sensor 14 for detecting whether or not a person has boarded the vehicle, a state determination unit 15 for judging the state of the boarding detection sensor 14, and an attitude angle sensor 16 for measuring the inclination of the boarding unit 13 due to the movement of the center of gravity of the passenger And a control unit 17a that controls the drive unit 12 to maintain the inverted state, and a grounding module that makes the inverted movable carriage 1 stand up by grounding when the inverted control by the control unit 17a is not performed. 18.

  The drive unit 12, the state determination unit 15, the attitude angle sensor 16, and the control unit 17 a are stored in the storage unit 2 provided in the front part of the base of the inverted mobile carriage 1. What is stored in the storage unit 2 is not limited to these.

  The main power supply 10 switches whether to execute the operation of each part of the inverted moving carriage 1. For example, when the main power supply 10 is turned on, the main power supply 10 supplies power to the drive unit 12, the state determination unit 15, and the control unit 17a. Thereby, the drive part 12, the state determination part 15, and the control part 17a will be in an operable state. When the main power supply 10 is in an OFF state, the main power supply 10 stops the supply of power to the drive unit 12, the state determination unit 15, and the control unit 17a to stop the operation. The main power supply 10 can be switched ON / OFF freely by a person.

  The pair of drive wheels 11 includes a left drive wheel 11a and a right drive wheel 11b provided on the left and right coaxial axes. The drive wheel 11 moves the inverted moving carriage 1 by rotating based on the drive force applied from the drive unit 12. For example, the inverted moving carriage 1 moves forward or backward by making the rotation speeds of the left driving wheel 11a and the right driving wheel 11b the same. Further, the inverted moving carriage 1 turns by setting the left drive wheel 11a and the right drive wheel 11b to have different rotation speeds.

  The drive unit 12 is a motor that provides a drive force for rotating the drive wheels 11. For example, the drive unit 12 includes a left drive unit 12a that drives the left drive wheel 11a and a right drive unit 12b that drives the right drive wheel 11b. The driving unit 12 generates a driving force for rotating the driving wheels 11 based on the control signal input from the control unit 17a. In addition, when the inversion control is started, the drive unit 12 applies a driving force to the drive wheels 11 so that the inverted moving carriage 1 is in an inverted state based on the control signal input from the control unit 17a.

  The boarding unit 13 is a step provided on the base of the inverted moving carriage 1 on which a human foot is placed. The riding section 13 is disposed above the drive wheels 11.

  The boarding detection sensor 14 is a pressure sensor provided in the upper part of the boarding part 13, for example. The boarding detection sensor 14 detects that a downward pressure is applied to the boarding part 13 due to the weight of the person boarding the boarding part 13 and is turned on. Conversely, the boarding detection sensor 14 is turned off when no person is on the boarding unit 13 and no pressure is applied to the boarding unit 13. The boarding detection sensor 14 outputs the detection result to the state determination unit 15. Here, the boarding detection sensor 14 may use only one sensor, and detects the boarding detection sensor for the left foot that detects the placement of the person's left foot on the riding section 13 and the placement of the person's right foot. It may be provided with two sensors of a boarding detection sensor for the right foot. Alternatively, the boarding detection sensor 14 detects a person's boarding by using three or more sensors, such as arranging sensors for the front part of the left foot, the rear part of the left foot, the front part of the right foot, and the rear part of the right foot. May be.

  The state determination unit 15 determines the state of the boarding detection sensor 14 from the detection result input from the boarding detection sensor 14. On condition that all boarding detection sensors 14 are OFF, the state judgment unit 15 is ON sticking judgment part 15a that judges that there is no sticking of the boarding detection sensors 14 and all boarding detection sensors 14 are ON. On the condition, there is an OFF sticking determination unit 15b that determines that the boarding detection sensor 14 has no OFF sticking. The state determination unit 15 outputs the determination result to the control unit 17a.

  The attitude angle sensor 16 is an angle sensor provided in the riding section 13, for example. The attitude angle sensor 16 measures the tilt of the riding section 13 generated by the movement of the center of gravity of the passenger. The attitude angle sensor 16 outputs the measurement result of the tilt of the riding section 13 to the control section 17a.

  The control unit 17a determines whether to start the inversion control based on the state determination input result of the boarding detection sensor 14 input from the state determination unit 15. Specifically, when the person gets on the inverted carriage 1, the control unit 17 a determines from the ON sticking determination unit 15 a that the ride detection sensor 14 is not sticking ON, and gets off from the OFF sticking determination unit 15 b. When the result of determining that the detection sensor 14 is not stuck off is received, control is performed so as to start the inverted control. Further, the control unit 17a outputs a control signal to the drive unit 12 so that the vehicle travels in an inverted state based on the measurement result input from the attitude angle sensor 16. For example, when the riding section 13 tilts forward and the measurement result is input from the attitude angle sensor 16, the control section 17 a outputs a control signal to the drive section 12 so as to advance the inverted moving carriage 1.

  The ground module 18 is disposed at the lower rear part of the base. The tip of the ground module 18 is in a grounded state by tilting the inverted carriage 1 backward when the inverted control is not performed. Thereby, as shown in FIG. 2, the inverted carriage 1 is supported by the drive wheels 11 and the ground module 18 and is statically stabilized. In addition, when the inverted control is performed by the control unit 17a and the inverted moving carriage 1 is inverted and stabilized by the operation of the drive wheels 11, the tip of the ground module 18 is separated from the ground as shown in FIG. Note that the ground module 18 is disposed at a height at which the tip does not contact the ground when the riding section 13 is tilted rearward in the inverted state. As a result, the ground module 18 does not hinder travel.

  Next, with reference to FIG. 4, the operation of the inverted moving carriage 1 will be described.

  First, the main power supply 10 is in an OFF state (ST1). At this time, the inverted moving carriage 1 does not perform the inversion control, and the drive wheel 11 and the ground module 18 are in contact with the ground.

  The main power supply 10 is switched from OFF to ON (ST2). At this time, ON / OFF of the boarding detection sensor 14 is in an indefinite state.

  All the boarding detection sensors 14 are switched off (ST3).

  The ON sticking determination unit 15a determines whether or not all the boarding detection sensors 14 are OFF (ST4). As a result, the ON sticking determination unit 15a determines whether or not there is an object with the boarding detection sensor 14 stuck on. When the ON sticking determination unit 15a determines that there is no boarding detection sensor 14 stuck on (No in ST4), the process proceeds to ST5. On the other hand, if the ON sticking determination unit 15a determines that there is the boarding detection sensor 14 sticking to ON (Yes in ST4), the process proceeds to ST9 and the process is terminated.

  All the boarding detection sensors 14 are switched on (ST5).

  The OFF sticking determination unit 15b determines whether or not all the boarding detection sensors 14 are ON (ST6). As a result, the OFF sticking determination unit 15b determines whether or not there is an object with the boarding detection sensor 14 stuck to OFF. When the OFF sticking determination unit 15b determines that there is no boarding detection sensor 14 stuck OFF (No in ST6), the process proceeds to ST7. If the OFF sticking determination unit 15b determines that there is a boarding detection sensor 14 stuck OFF (Yes in ST6), the process proceeds to ST9 and the process is terminated.

  The inverted moving carriage 1 starts the inverted control (ST7). That is, the control unit 17a outputs a control signal for making the inverted moving carriage 1 in an inverted state to the drive unit 12. In the drive part 12, a drive force is given to the drive wheel 11 based on a control signal, and the drive wheel 11 is rotated so that it may be in an inverted state.

  The controller 17a controls the running state (ST8). Specifically, the posture angle sensor 16 measures the tilting of the riding section 13 caused by the movement of the center of gravity of the occupant and outputs it to the control section 17a. The control unit 17a outputs a control signal so as to change the driving state of the left driving unit 12a and the right driving unit 12b based on the input tilt of the riding unit 13. Thereby, the inverted mobile trolley 1 travels.

  Specifically, the controller 17a drives to increase the traveling speed forward when the forward tilt angle of the riding section 13 increases, and to decrease the traveling speed when the angle decreases. The drive unit 12 can be controlled so that the wheel 11 operates. Similarly, the control unit 17a moves the inverted moving carriage 1 backward and changes the reverse speed based on the backward tilt angle of the riding section 13, and moves rightward based on the tilt angle of the riding section 13 toward the right side. It is possible to control the operation of the drive unit 12 so as to turn and change the turning speed while changing the turning speed and changing the turning speed to the left based on the inclination angle of the riding part 13 to the left.

  As a result, after the main power supply 10 is turned on, the boarding detection sensor 14 checks whether or not the ON sticking or OFF sticking occurs, and starts the inverted state when no ON sticking or OFF sticking occurs. Can be made. Since the failure detection is not performed by comparing a plurality of sensors, the present technique can be applied even to the inverted mobile carriage 1 in which only one boarding detection sensor 14 is installed. In addition, the failure detection of the boarding detection sensor 14 is performed when a person gets on or off the vehicle, and the failure determination is not performed during the inversion control. But there is no worry of making a wrong decision.

Embodiment 2
Next, the inverted moving carriage 3 that performs boarding detection determination when a person is on board will be described. Among the constituent articles constituting the inverted moving carriage 3, the constituent articles having the same functions as the constituent articles shown in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  As shown in FIG. 5, the inverted moving carriage 3 includes a main power source 10, a pair of driving wheels 11, a driving unit 12 that drives the driving wheels 11, a riding unit 13 on which a person rides, and a riding unit 13. A boarding detection sensor 14 that detects whether or not a person has boarded, a state determination unit 15 that determines the state of the boarding detection sensor 14, and an attitude angle sensor 16 that measures the inclination of the boarding unit 13 due to the movement of the center of gravity of the passenger The control unit 17b that controls the drive unit 12 so as to maintain the inverted state, and the grounding module 18 that makes the inverted movable carriage 3 stand up by grounding when the inverted control by the control unit 17b is not performed. And informing means 19 for notifying the user that the boarding determination has not been made.

  The drive unit 12, the state determination unit 15, the attitude angle sensor 16, and the control unit 17 b are stored in the storage unit 2 provided in the front part of the base of the inverted mobile carriage 1. What is stored in the storage unit 2 is not limited to these.

  The inverted moving carriage 3 is provided with two or more sensors as the boarding detection sensor 14.

  The control unit 17b determines whether to start the inversion control based on the state determination input result of the boarding detection sensor 14 input from the state determination unit 15. Specifically, when the person gets on the inverted carriage 1, the control unit 17 b determines from the ON sticking determination unit 15 a that there is no ON sticking of the boarding detection sensor 14, and gets off from the OFF sticking determination unit 15 b. When the result of determining that the detection sensor 14 is not stuck off is received, control is performed so as to start the inverted control. Further, the control unit 17b outputs a control signal to the drive unit 12 so as to travel in a state of being inverted based on the measurement result input from the attitude angle sensor 16. For example, when the riding section 13 tilts forward and the measurement result is input from the attitude angle sensor 16, the control section 17 b outputs a control signal to the drive section 12 so as to advance the inverted moving carriage 3.

  Furthermore, the state of the boarding detection sensor 14 is input from the state determination unit 15 to the control unit 17b even during traveling after starting the inverted control of the inverted moving carriage 3. Here, information on whether or not the states of two or more sensors match or does not match is input from the state determination unit 15 to the control unit 17b. The control unit 17 b controls the operation of the notification unit 19 based on the state of the boarding detection sensor 14.

  The notification means 19 is, for example, a display and / or a speaker. The operation of the notification unit 19 is controlled by the control unit 17a. For example, the notification means 19 displays a warning screen or generates a warning sound when the user cannot get on correctly. For example, the notification means 19 is arrange | positioned in the front part of the inverted moving trolley 3 when it has a display.

  Next, the operation of the inverted moving carriage 3 will be described with reference to FIG.

  First, the main power supply 10 is in an OFF state (ST11). At this time, the inverted moving carriage 3 does not perform the inversion control, and the drive wheel 11 and the ground module 18 are in contact with the ground.

  The main power supply 10 is switched from OFF to ON (ST12). At this time, ON / OFF of the boarding detection sensor 14 is in an indefinite state.

  All the boarding detection sensors 14 are switched off (ST13).

  The ON sticking determination unit 15a determines whether or not all the boarding detection sensors 14 are OFF (ST14). As a result, the ON sticking determination unit 15a determines whether or not there is an object with the boarding detection sensor 14 stuck on. When the ON sticking determination unit 15a determines that there is no boarding detection sensor 14 stuck on (No in ST14), the process proceeds to ST15. If the ON sticking determination unit 15a determines that there is a boarding detection sensor 14 sticking to ON (Yes in ST14), the process proceeds to ST22 and the process is terminated.

  All the boarding detection sensors 14 are switched on (ST15).

  The OFF sticking determination unit 15b determines whether or not all the boarding detection sensors 14 are ON (ST16). As a result, the OFF sticking determination unit 15b determines whether or not there is an object with the boarding detection sensor 14 stuck to OFF. When the OFF sticking determination unit 15b determines that there is no boarding detection sensor 14 stuck OFF (No in ST16), the process proceeds to ST17. If the OFF sticking determination unit 15b determines that there is the boarding detection sensor 14 stuck OFF (Yes in ST16), the process proceeds to ST22 and the process is terminated.

  The inverted moving carriage 3 starts the inverted control (ST17). That is, the control unit 17a outputs a control signal for making the inverted moving carriage 3 in the inverted state to the drive unit 12. In the drive part 12, a drive force is given to the drive wheel 11 based on a control signal, and the drive wheel 11 is rotated so that it may be in an inverted state.

  The control unit 17b controls the traveling state (ST18). Specifically, the posture angle sensor 16 measures the tilting of the riding section 13 caused by the movement of the center of gravity of the occupant and outputs it to the control section 17a. The control unit 17b outputs a control signal so as to change the driving state of the left driving unit 12a and the right driving unit 12b based on the input tilting of the riding unit 13. Thereby, the inverted mobile trolley 3 starts traveling.

  While traveling, the state determination unit 15 determines whether all the boarding detection sensors 14 match or do not match (ST19). For example, the state determination unit 15 detects the sensor in which the boarding detection sensor 14 is in the ON state by the ON sticking determination unit 15a, and detects the sensor in which the boarding detection sensor 14 is in the OFF state by the OFF sticking determination unit 15b. Information indicating whether there is an ON state or an OFF state is output to the control unit 17b. If all the boarding detection sensors 14 match (Yes in ST19), the process proceeds to ST20. For example, when two sensors are installed as the boarding detection sensor 14, if both the sensors are in the ON state, the process proceeds to ST20. Further, if there is an inconsistent state of the boarding detection sensor 14 (No in ST19), the process proceeds to ST21. For example, when two sensors are installed as the boarding detection sensor 14, if one sensor is in the ON state and the other sensor is in the OFF state, the process proceeds to ST21.

  If all the boarding detection sensors 14 match, the vehicle travels while maintaining the inverted state (ST20). At this time, the notification means 19 does not operate. Alternatively, the notifying unit 19 may display on the display that the passenger has successfully boarded and may make an announcement on the speaker that the passenger has boarded correctly. Thereafter, the process returns to ST19, and the state determination of all the boarding detection sensors 14 is repeated.

  When there is a sensor whose state does not match among the boarding detection sensors 14, notification by the notification means 19 is performed (ST21). For example, the notification means 19 generates an indication that the boarding determination cannot be made on the display, or generates a warning sound by a speaker. At this time, the traveling continues. Thereafter, the process returns to ST19, and the state determination of all the boarding detection sensors 14 is repeated.

  As a result, even when the boarding detection sensor 14 has no fault during boarding and the boarding detection sensor 14 has a fault after boarding, the fault detection is not performed by comparing the plurality of boarding detection sensors 14. In addition, the state of the inverted moving carriage 3 can be changed on condition that the sensor matches or does not match. At this time, as a change of the state of the inverted moving carriage 3, by changing the notification state of the notification means 19, it is not determined whether the cause is a lack of balance of the occupant or a sensor failure. The passenger can recognize that an abnormality has occurred in the state of the boarding detection sensor 14 while maintaining the state in which the inverted moving carriage 3 is driven in the inverted state.

  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, in ST21, when there is a sensor that does not match the state among the boarding detection sensors 14, the state of the notification unit 19 is changed to notify the occurrence of an abnormality. If 14 inconsistent states continue for a certain period of time, an operation may be performed in which the traveling speed is reduced and the inversion control is canceled.

  In addition, although it has been described that the result of the state determination unit 15 determining whether the boarding detection sensor 14 matches or does not match is input to the control unit 17b, the control unit 17b and the state determination unit 15 are integrated. Alternatively, the sensor value of the boarding detection sensor 14 may be directly input to the control unit 17b, and the control unit 17b may determine whether the boarding detection sensor 14 matches or does not match.

  Further, for example, in ST14 and ST16, when it is determined that the boarding detection sensor 14 is stuck when the determination is made by the ON sticking determination unit 15a or the OFF sticking determination unit 15b at the time of boarding, the process is terminated. However, the notification means 19 may notify that there is sticking.

  Further, the informing means 19 is provided in the inverted moving carriage 1 shown in the first embodiment, and when it is determined in ST4 and ST6 that the boarding detection sensor 14 is stuck, the notice means 19 is stuck. May be notified.

DESCRIPTION OF SYMBOLS 1 Inverted moving trolley 2 Storage part 3 Inverted moving trolley 10 Main power supply 11 Drive wheel 11a Left drive wheel 11b Right drive wheel 12 Drive part 12a Left drive part 12b Right drive part 13 Riding part 14 Boarding detection sensor 15 State determination part 15a With ON tension Determination unit 15b OFF sticking determination unit 16 Attitude angle sensor 17a Control unit 17b Control unit 18 Ground module 19 Notification means

Claims (2)

An inverted two-wheeled vehicle that performs an inverted control when the main power supply is on,
A boarding section on which people board,
One or more boarding detection sensors for detecting boarding of a person on the boarding section;
A state determination unit for determining an ON / OFF state of the boarding detection sensor;
After pre SL main power is turned ON from OFF, the switching ride sensor all OFF, after the boarding detection sensor by the state determination unit determines that all of OFF, the all the boarding detection sensor ON A control unit that starts upside-down control after the state determination unit determines that all the boarding detection sensors are all ON .
An inverted motorcycle. The boarding detection sensor is two or more sensors for detecting boarding of a person on the boarding section
The state determination unit determines whether or not the states of the two or more boarding detection sensors match when the control unit has started the inverted control.
The control unit changes control based on a determination result by the state determination unit.
The inverted two-wheeled vehicle according to claim 1.

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