WO2018207538A1 - Travel assistance tool and travel device - Google Patents

Travel assistance tool and travel device Download PDF

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Publication number
WO2018207538A1
WO2018207538A1 PCT/JP2018/015185 JP2018015185W WO2018207538A1 WO 2018207538 A1 WO2018207538 A1 WO 2018207538A1 JP 2018015185 W JP2018015185 W JP 2018015185W WO 2018207538 A1 WO2018207538 A1 WO 2018207538A1
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WO
WIPO (PCT)
Prior art keywords
inverted pendulum
type vehicle
pendulum type
support device
traveling
Prior art date
Application number
PCT/JP2018/015185
Other languages
French (fr)
Japanese (ja)
Inventor
渉 矢田
慎一郎 小橋
加藤　誠司
剛 越前谷
長谷川　誠
Original Assignee
本田技研工業株式会社
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Filing date
Publication date
Application filed by 本田技研工業株式会社 filed Critical 本田技研工業株式会社
Publication of WO2018207538A1 publication Critical patent/WO2018207538A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62H—CYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
    • B62H7/00—Devices for learning to ride cycles, not otherwise provided for, e.g. assisting balance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K1/00—Unicycles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K17/00—Cycles not otherwise provided for

Definitions

  • the present invention relates to a travel support device and a travel device, and more particularly to a travel support device for an inverted pendulum type vehicle and a travel device using the inverted pendulum type vehicle.
  • Patent Documents 1 and 2 As a boarding type vehicle, an inverted pendulum type vehicle that has a seat on which a passenger sits and runs independently by an inverted pendulum control is known (for example, Patent Documents 1 and 2).
  • the inverted pendulum type vehicle travels in the moving direction by moving the center of gravity of the passenger with respect to the vehicle body. For example, when the center of gravity moves forward with respect to the vehicle body due to the passenger leaning forward, the inverted pendulum type vehicle travels forward.
  • inverted pendulum type vehicle by moving the center of gravity of the passenger may seem difficult for beginners, the elderly, and the disabled, and it is necessary to get used to the operation.
  • a single-wheel inverted pendulum type vehicle is controlled by an inverted pendulum control in the left-right direction in addition to the front-rear direction, which makes it difficult for the passenger to balance and makes the passenger concerned that he will not wobble in the left-right direction. There is a risk of giving.
  • the problem to be solved by the present invention is to support the traveling of an inverted pendulum type vehicle so that beginners, the elderly, and the handicapped can use the inverted pendulum type vehicle without needing to get used to or to feel uneasy. This is to increase the number of passengers.
  • a travel support device is a travel support device that supports the travel of an inverted pendulum type vehicle (10) that travels by inverted pendulum control, and includes a plurality of wheels (116, 118) and the plurality of the travel support devices.
  • the presence of the frame (102) that can run independently and the flexible connecting member (120) prevents the beginner, the elderly, and the handicapped from getting used or worried. Since the inverted pendulum type vehicle (10) can be used without hindering the inverted pendulum control, the number of passengers can be increased. In addition, by providing baggage or the like to the travel support device (100), the baggage or the like is excluded from the center of gravity movement of the inverted pendulum type vehicle (10), and thus can be carried with peace of mind.
  • the connecting member (120) is made of a rubber material.
  • the elastic force and the repulsive force of the rubber material effectively act on the operation of tilting the inverted pendulum type vehicle (10) and the operation of returning the inverted pendulum type vehicle (10) to the original posture, and the inverted pendulum type.
  • the operability of the vehicle (10) is improved.
  • the frame (102) includes left and right side members (104) including portions extending in the front-rear direction on the left and right sides of the inverted pendulum type vehicle (10), A rear member (106, 108) that exists in the left-right direction behind the inverted pendulum type vehicle (10) and connects the left and right side members (104) to each other.
  • the left and right side members (104) act as contact stoppers for the tilting of the inverted pendulum type vehicle (10) in the left-right direction, and the inverted pendulum type vehicle (10) is tilted excessively in the left-right direction. Is prevented.
  • the connecting member (120) includes a portion extending in the left-right direction and locked to the left and right side members (104).
  • the driving support device (100) is connected to the inverted pendulum type vehicle (10) with a simple structure.
  • the wheels include left and right front wheels (116) and a rear wheel (118), and at least the left and right front wheels (116) are free casters.
  • traveling in the front-rear and left-right directions of the inverted pendulum type vehicle (10) is not hindered by the travel support device (100).
  • the travel support device (100) has a wheel base that is longer than the maximum longitudinal length of the inverted pendulum type vehicle (10). Further, since the front wheel (116) is located far from the step (16), it is easy to put a foot on and off.
  • the stability in the front-rear direction of the driving support device (100) with respect to the inverted pendulum type vehicle (10) is improved. Further, since the front wheel (116) is located far from the step (16), it is easy to put a foot on and off.
  • grips (114) are preferably provided on the left and right sides of the frame (102).
  • armrests (115) are respectively provided on the left and right sides of the frame (102).
  • a travel device includes an inverted pendulum type vehicle that travels by inverted pendulum control and the above-described travel support device according to the embodiment of the present invention.
  • the presence of the frame (102) that can run independently and the flexible connecting member (120) prevents the beginner, the elderly, and the handicapped from getting used or worried. Since the inverted pendulum type vehicle (10) can be used, the number of passengers can be increased.
  • the inverted pendulum type vehicle is supported, and even the beginner, the elderly, and the disabled can use the inverted pendulum type vehicle with no need to get used to it. I can plan.
  • Side view of traveling device according to this embodiment The top view of the traveling apparatus by this embodiment
  • Front view of the traveling device according to the present embodiment (with the outer shell removed)
  • Block diagram of a control system of an inverted pendulum type vehicle used in the traveling device according to the present embodiment The perspective view which shows other embodiment of the traveling apparatus containing the driving assistance apparatus by this invention.
  • FIGS. 1 to 5 An embodiment of a traveling apparatus including a traveling support device according to the present invention will be described with reference to FIGS. 1 to 5.
  • the traveling device 1 includes an inverted pendulum type vehicle 10 and a travel support device 100 as shown in FIGS.
  • the inverted pendulum type vehicle 10 includes a body frame 20 (see FIG. 4) and a thin outer shell 12 that covers the body frame 20.
  • the body frame 20 includes a pair of left and right side posts 22 extending vertically, an upper beam 24 and a middle beam 26 that connect the left and right side posts 22 to each other, and a side plate 28 attached to the lower portion of each side post 22.
  • a saddle 14 as a seat on which a passenger sits is attached to the upper portion of the side post 22.
  • a step 16 is attached to the lower part of each side plate 28.
  • the left and right side plates 28 support both ends of a disc support shaft 30 extending horizontally between the left and right side plates 28 in the vehicle width direction (left and right direction).
  • the disc support shaft 30 supports the left and right drive discs 32 inside the left and right side plates 28 so as to be individually rotatable.
  • a main wheel 34 is disposed between the left and right drive disks 32.
  • the main wheel 34 has a metal ring member 36 and a plurality of rubber driven rollers 38 attached to the outer periphery of the ring member 36.
  • Each driven roller 38 is provided so as to form a row in the ring direction (circumferential direction) of the ring member 36, and each of the driven rollers 38 is around an axis extending in the tangential direction of the ring member 36 at the position of the ring member 36.
  • 36 (around the center of the cross section) can be individually rolled (rotated).
  • Each drive disk 32 rotatably supports a plurality of metal drive rollers 40 at equal intervals in the circumferential direction.
  • the drive roller 40 of the left drive disk 32 and the drive roller 40 of the right drive disk 32 are the same symmetrically so that the rotation center of each drive roller 40 is twisted with respect to the rotation center of the drive disk 32. The number is arranged.
  • the left and right drive rollers 40 are in contact with the outer peripheral surface of the driven roller 38 with their outer peripheral surfaces, and the main wheel 34 extends substantially horizontally in the vehicle width direction (left / right direction) so as to sandwich the driven roller 38 from both left and right sides. It is supported so that it can rotate around its axis.
  • the traveling drive device 42 is attached to the body frame 20.
  • the travel drive device 42 includes a right electric motor 44, a left electric motor 46, and a speed reducer 48.
  • the reduction gear 48 has a reduction gear train (not shown) for the right electric motor 44 and a reduction gear train (not shown) for the left electric motor 46 in one gear case 50.
  • An output shaft 52 of each gear train protrudes from the left and right sides of the gear case 50.
  • a drive pulley 54 is attached to each output shaft 52.
  • a driven pulley 56 is attached to each drive disk 32.
  • the drive pulley 54 and the driven pulley 56 are hung around a cog belt 58 that drives and connects the corresponding ones on the left and right.
  • the right electric motor 44 individually drives the right drive disk 32 and the left electric motor 46 to rotate the left drive disk 32 individually.
  • the body frame 20 supports the front end of the tail wheel support arm 60 (see FIGS. 1 and 2) on the side plate 28 so as to be rotatable around an axis extending in the horizontal direction.
  • the tail wheel support arm 60 rotatably supports a tail wheel 62 by an omni wheel around an axis extending in the front-rear direction at the rear end.
  • the tail wheel 62 is rotationally driven around an axis extending in the front-rear direction by a tail wheel electric motor 64 (see FIG. 5) provided on the tail wheel support arm 60.
  • the inverted pendulum type vehicle 10 includes a gyro sensor (tilt angle detection device) 66 attached to the vehicle body frame 20 and a control device 80 for controlling the inverted pendulum.
  • the gyro sensor 66 detects front, rear, left and right inclination angles with respect to the vertical line of the body frame 20 and outputs the detected values to the control device 80.
  • the control device 80 is of an electronic control type including a microcomputer, and by executing a computer program, an inclination angle calculation unit 81, an angular velocity calculation unit 82, an angular acceleration calculation unit 83, and a gravity center calculation unit 84,
  • the inverted pendulum control unit 85 and the turning control unit 86 are embodied.
  • the inclination angle calculation unit 81 calculates the front and rear and left and right inclination angles with respect to the vertical line of the vehicle body frame 20 from the output signal (detection value) of the gyro sensor 66.
  • the angular velocity calculator 82 calculates the angular velocity from the inclination angle calculated by the inclination angle calculator 81.
  • the angular acceleration calculation unit 83 calculates an angular acceleration from the angular velocity calculated by the angular velocity calculation unit 82.
  • the center-of-gravity calculation unit 84 includes the entire inverted pendulum type vehicle 10 including the occupant seated on the saddle 14 based on changes in the tilt angle, the angular velocity, and the angular acceleration of the vehicle body frame 20 calculated by the calculation units 81, 82, and 83.
  • the center of gravity position is calculated.
  • the inverted pendulum control unit 85 performs a calculation process based on the inverted pendulum control law based on the center of gravity calculated by the center of gravity calculation unit 84 to set the traveling direction, and individually sets the right motor drive circuit 88 and the left motor drive circuit 90 separately.
  • a command signal is output.
  • the turning control unit 86 performs a calculation process based on the turning control law based on the center of gravity calculated by the center of gravity calculating unit 84 to set a turning direction, and outputs a command signal to the tail wheel motor drive circuit 92.
  • Each motor drive circuit 88, 90, 92 includes an inverter or the like, and controls electric power supplied to each electric motor 44, 46, 64 from a battery (not shown) mounted on the vehicle body frame 20.
  • the control device 80 controls the driving of the right electric motor 44 and the left electric motor 46 in order to maintain the body frame 20 in an upright posture. At this time, the tail wheel electric motor 64 is not driven. As a result, the inverted pendulum type vehicle 10 does not travel or turn, and stops in an upright posture.
  • the control device 80 controls the right electric motor 44 and the left electric motor 46 to drive forward at the same speed in order to travel forward. I do.
  • the right electric motor 44 and the left electric motor 46 By driving the right electric motor 44 and the left electric motor 46, the left and right drive disks 32 rotate forward at the same speed, and the main wheel 34 rotates forward about its own wheel center as a rotation axis, that is, revolves in the forward direction.
  • the tail wheel electric motor 64 is not driven.
  • the control device 80 controls to drive the right electric motor 44 and the left electric motor 46 in the reverse direction at the same speed in order to travel backward. Do.
  • the right electric motor 44 and the left electric motor 46 By driving the right electric motor 44 and the left electric motor 46, the left and right drive disks 32 rotate in reverse at the same speed, and the main wheel 34 rotates in reverse, that is, revolves in the reverse direction, with its own wheel center as the rotation axis.
  • the drive roller 40 and the driven roller 38 do not rotate, and the inverted pendulum type vehicle 10 moves backward in a slightly tilted posture. At this time, the tail wheel electric motor 64 is not driven.
  • the control device 80 When the center of gravity of the entire inverted pendulum type vehicle 10 including the occupant moves to the left front or right front from the neutral position, the control device 80 does not drive the right electric motor 44 and the left electric motor 46 to turn, but for the tail wheel. Control for driving the electric motor 64 is performed.
  • the tail wheel 62 rotates around the central axis extending in the front-rear direction by driving the tail wheel electric motor 64. Thereby, the inverted pendulum type vehicle 10 turns right or left with the contact point with respect to the floor surface of the main wheel 34 as the turning center.
  • the control device 80 moves the right electric motor 44 and the left electric motor 46 in different rotational directions so as to run sideways. Control to drive to the same rotation speed is performed. At this time, the main wheel 34 does not revolve at all, only the driven roller 38 rotates, and the inverted pendulum type vehicle 10 travels sideways in the left or right direction while maintaining a slightly left or right-down posture. At this time, the tail wheel electric motor 64 is driven.
  • the travel support device 100 has a frame 102 as shown in FIGS.
  • the frame body 102 has a pair of left and right side members 104.
  • Each side member 104 is a bent product made of a pipe material, and includes an upper horizontal portion 104A including portions extending in the front-rear direction on the left and right sides of the inverted pendulum type vehicle 10, and a front end of the upper horizontal portion 104A.
  • Front post portion 104B extending obliquely toward the lower front side, front post portion 104B, front extension portion 104C extending forward from the front end, and inclined extending rearward from the rear end of upper horizontal portion 104A Rear post 104D.
  • the left and right side members 104 are connected to each other by two upper and lower rear cross pipes (rear members) 106 and 108 extending between the left and right rear posts 104D.
  • the frame body 102 has a U shape in plan view so as to surround the left and right sides and the rear part of the travel support device 100.
  • the frame 102 has left and right upper auxiliary pipes 110 and lower auxiliary pipes 112 that extend in parallel with the upper horizontal portion 104A and connect the front post portion 104B and the rear post 104D of each side member 104 to each other.
  • a grip 114 is attached to the left and right upper horizontal portions 104A.
  • the left and right front wheels 116 are attached to the front end of each front extension 104C by swingable free casters.
  • left and right rear wheels 118 are attached by swingable casters.
  • the travel support device 100 is a four-wheeled vehicle and can travel (movable) in a stable self-supporting posture.
  • the inverted pendulum type vehicle 10 is disposed in a space surrounded by the left and right side members 104 and the rear cross pipes 106 and 108.
  • the traveling device 1 further includes a rubber belt 120 as a flexible coupling member that couples the inverted pendulum type vehicle 10 and the traveling support device 100 arranged as described above.
  • the rubber belt 120 extends in the left-right direction, and both ends are locked to the upper auxiliary pipe 110, and an intermediate portion is locked to the inverted pendulum type vehicle 10 so as to be sandwiched between the outer shell 12 and the saddle 14, and by rubber expansion and contraction.
  • the inverted pendulum type vehicle 10 is connected to the travel support device 100 so as to be freely tiltable in both the front-rear direction and the left-right direction.
  • the rubber belt 120 may be set to be in a tension state where there is no slack when the inverted pendulum type vehicle 10 is in a vertically upright posture, or in a setting where there is slack. Can be adjusted, and may be set according to the degree of experience of the passenger.
  • the horizontal width of the frame 102 that is, the interval between the left and right side members 104 is larger than the maximum horizontal width of the inverted pendulum type vehicle 10 as shown in FIGS.
  • the inverted pendulum type vehicle 10 is disposed at a substantially central portion in the left-right direction of the travel support device 100 by the rubber belt 120.
  • the frame body 102 does not contact the inverted pendulum type vehicle 10 when the inverted pendulum type vehicle 10 is in a vertically upright posture, and when the inverted pendulum type vehicle 10 is tilted by a predetermined angle in the left-right direction, It acts as a contact-type stopper that contacts the inverted pendulum type vehicle 10 and prevents the inverted pendulum type vehicle 10 from further tilting in the left-right direction.
  • the presence of the rear cross pipes 106 and 108 prevents the backward tilting of the inverted pendulum type vehicle 10 from being excessively backwardly tilted by the similar contact-type stopper action.
  • the distance between the left and right front wheels 116 and the left and right rear wheels 118 of the driving support device 100, that is, the wheel base is longer than the maximum longitudinal length of the inverted pendulum type vehicle, as shown in FIGS.
  • the inverted pendulum type vehicle 10 is arranged with a rubber belt 120 biased toward the rear wheel 118 side of the travel support device 100, and the front wheel 116 is generally an inverted pendulum by the longitudinal length of the front extension 104C. It is located in front of the front part of the type vehicle 10. It should be noted that the position of the inverted pendulum type vehicle 10 in the front-rear direction with respect to the travel support device 100 may be changed accordingly.
  • the inverted pendulum type vehicle 10 is connected to the travel support device 100, and the passenger sits on the saddle 14 and the left and right feet are placed on each step 16 in accordance with the movement of the center of gravity of the passenger. It travels with the travel support instrument 100 in the direction of movement of the center of gravity. Since all of the front wheels 116 and the rear wheels 118 of the traveling support device 100 are free casters, the traveling support device 100 does not obstruct the traveling of the inverted pendulum type vehicle 10 in the front-rear direction and the left-right direction. The vehicle 10 operates in the same manner as in the case of a single machine that is not connected to the travel support device 100.
  • the traveling device 1 by the inverted pendulum type vehicle 10 and the driving support device 100 can be seen and stable. This contributes to enabling the inverted pendulum type vehicle 10 to be used with a sense of security even for beginners, the elderly, and the handicapped. Thereby, expansion of the boarding subject (user) of the inverted pendulum type vehicle 10 is achieved.
  • the tilting of the inverted pendulum type vehicle 10 in the left-right direction is prevented by the left and right side members 104 of the driving support device 100 existing on both the left and right sides of the inverted pendulum type vehicle 10.
  • the stability of the inverted pendulum type vehicle 10 in the inverted pendulum state is improved, and the anxiety that gives the passenger anxiety that the inverted pendulum type vehicle 10 will fall in the left-right direction is eliminated.
  • the baggage or the like is supported by the travel support device 100 as being suspended from the frame 102, and the baggage and the like are excluded from the center of gravity movement of the inverted pendulum type vehicle 10, so that the baggage and the like can be carried safely.
  • the passenger stabilizes the boarding posture and increases the sense of security by holding the left and right grips 114 provided on the left and right upper horizontal portions 104A of the driving support device 100 with the left and right hands. In addition, it is possible to prevent the center of gravity from moving excessively, and to avoid losing balance.
  • the passenger tries to lose balance in the front-rear direction or the left-right direction, the user can easily return to the original posture by holding the upper auxiliary pipe 110 and the lower auxiliary pipe 112 with the left and right hands, and the balance is lost. This is prevented beforehand.
  • the passenger can stably move the center of gravity at the seating portion with respect to the saddle 14 while holding the left and right grips 114 with the left and right hands and landing the left and right feet on the floor surface. It becomes like a wheelchair for people with disabilities.
  • the driving support device 100 has a longer wheelbase than the maximum longitudinal length of the inverted pendulum type vehicle 10, so that the inverted pendulum type vehicle 10 has good stability in the front-rear direction against tilting in the front-rear direction, and the passenger is balanced in the front-rear direction. Even if it collapses, it does not fall down in the front-rear direction. Further, since the front wheel 116 is approximately in front of the front portion of the inverted pendulum type vehicle 10 by the front and rear length of the front extension 104C, even if the passenger loses the balance in the forward direction, the driving support device 100 is moved in the forward direction. It becomes even more difficult to fall. In addition, since the front wheel 116 is located far from the step 16, the front wheel 116 does not get in the way and the step 16 can be easily put on and off.
  • the rubber belt 120 is elastically extended in accordance with the tilting of the inverted pendulum type vehicle 10 in the left-right direction or the front-rear direction, and the inverted pendulum type. Since a reaction force (resistance force) is generated with respect to the tilting of the vehicle 10, the passenger can know the tilting state of the inverted pendulum type vehicle 10 according to the reaction force experienced. As a result, the operability of the inverted pendulum type vehicle 10 is improved.
  • the rider can perform the operation to return the inverted pendulum type vehicle 10 from the inclined posture to the upright posture.
  • This also improves the operability of the inverted pendulum type vehicle 10.
  • the driving support device 100 supports the operation and driving of the inverted pendulum type vehicle 10, so that even a beginner, elderly person, or handicapped person does not have anxiety and does not need to get used to the inverted pendulum type vehicle. 10 can be used with peace of mind, and the number of passengers on the inverted pendulum type vehicle 10 can be increased.
  • FIG. 6 parts corresponding to those in FIG. 1 are denoted by the same reference numerals as those in FIG. 6, and description thereof is omitted.
  • the left and right rear wheels of the travel support device 100 are configured by fixed casters that cannot swing.
  • the tail wheel electric motor 64 is omitted, and the tail wheel 62 is constituted by a wheel equivalent to a fixed caster that can rotate around a central axis extending in the left-right direction.
  • the traveling device 1 cannot move in the left-right direction, and when the occupant moves the center of gravity in the left-right direction, the traveling device 1 turns around the tail wheel 62 or the rear wheel 118 as a fulcrum. Other than this, the operation is the same as in the above-described embodiment.
  • FIG. 7 parts corresponding to those in FIG. 1 are denoted by the same reference numerals as those in FIG. 6, and description thereof is omitted.
  • an armrest 115 is attached to each of the left and right upper horizontal portions 104A of the driving support device 100 in place of the grip 114.
  • the rider puts the left and right elbows on the left and right armrests 115, so that the posture of the rider is stabilized and the sense of security is increased, and the inverted pendulum type vehicle 10 can be easily operated.
  • the connecting member between the inverted pendulum type vehicle 10 and the travel support device 100 is not limited to the rubber belt 120, and if the tilting of the inverted pendulum type vehicle 10 is allowed, a stretchable or flexible string or hammock Such a cloth, a spring, or a metal telescoping member may be used.
  • a connecting member is a cloth such as a string or a hammock, a long one is used to connect the inverted pendulum type vehicle 10 and the driving support device 100 with a slackness, even if the connecting member itself is not stretchable. I just need it.
  • the driving support device 100 is not limited to a four-wheeled vehicle, and may be a three-wheeled vehicle or a multi-wheeled vehicle that exceeds four wheels as long as it can run independently. The independence stability of the support device 100 is improved.
  • the tail wheel 62 of the inverted pendulum type vehicle 10 is not essential and may be omitted.
  • Traveling device 10 Inverted pendulum type vehicle 12: Outer shell 14: Saddle 16: Step 20: Vehicle body 22: Side post 24: Upper beam 26: Middle beam 28: Side plate 30: Disc support shaft 32: Drive disc 34: Main wheel 36: Ring member 38: Driven roller 40: Drive roller 42: Traveling drive device 44: Right side electric motor 46: Left side electric motor 48: Reduction device 50: Gear case 52: Output shaft 54: Drive pulley 56: Driven pulley 58: Cog belt 60: tail wheel support arm 62: tail wheel 64: electric motor 66 for tail wheel: gyro sensor 80: control device 81: tilt angle calculation unit 82: angular velocity calculation unit 83: angular acceleration calculation unit 84: center of gravity calculation unit 85: inverted Pendulum system Control part 86: Turn control part 88: Right motor drive circuit 90: Left motor drive circuit 92: Tail wheel motor drive circuit 100: Travel support instrument 102: Frame body 104: Side member 104A: Upper horizontal part 104B: Front post part

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  • Mechanical Engineering (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

[Problem] To assist traveling with an inverted pendulum type vehicle and enable the use of said inverted pendulum type vehicle for beginners, old-aged people and physically impaired people without the need for habituation and without feeling uneasy, and increase the number of riders. [Solution] The present invention has: a plurality of wheels 116, 118; and a movable frame 102 to which the plurality of wheels 116, 118 are attached, and which is capable of self-standing and traveling, the frame 102 being coupled to an inverted pendulum type vehicle 10 by means of a flexible coupling member 120.

Description

走行支援器具及び走行装置Travel support apparatus and travel device
　本発明は、走行支援器具及び走行装置に関し、更に詳細には、倒立振子型車両のための走行支援器具及び倒立振子型車両が用いられた走行装置に関する。 The present invention relates to a travel support device and a travel device, and more particularly to a travel support device for an inverted pendulum type vehicle and a travel device using the inverted pendulum type vehicle.
　搭乗型の車両として、搭乗者が着座するシートを有し、倒立振子制御によって自立走行する倒立振子型車両が知られている（例えば、特許文献１、２）。 2. Description of the Related Art As a boarding type vehicle, an inverted pendulum type vehicle that has a seat on which a passenger sits and runs independently by an inverted pendulum control is known (for example, Patent Documents 1 and 2).
　倒立振子型車両は、車体に対する搭乗者の重心移動によってその移動方向に走行する。例えば、搭乗者が前かがみになったことにより重心が車体に対して前側に移動すると、倒立振子型車両は前方に走行する。 The inverted pendulum type vehicle travels in the moving direction by moving the center of gravity of the passenger with respect to the vehicle body. For example, when the center of gravity moves forward with respect to the vehicle body due to the passenger leaning forward, the inverted pendulum type vehicle travels forward.
特許第５４２６６８２号公報Japanese Patent No. 5426682 特開２０１３－２３７３２７号公報JP 2013-237327 A
　搭乗者の重心移動による倒立振子型車両の操縦は、初心者や高齢者、身障者にとっては難しく感じる場面があり、その操縦には慣れが必要である。特に、一輪式の倒立振子型車両は、前後方向に加えて左右方向の倒立振子制御が行われるので、搭乗者がバランスを取ることを難しく感じ、左右方向にふらつかないかと云う不安を搭乗者に与える虞がある。 The operation of the inverted pendulum type vehicle by moving the center of gravity of the passenger may seem difficult for beginners, the elderly, and the disabled, and it is necessary to get used to the operation. In particular, a single-wheel inverted pendulum type vehicle is controlled by an inverted pendulum control in the left-right direction in addition to the front-rear direction, which makes it difficult for the passenger to balance and makes the passenger worried that he will not wobble in the left-right direction. There is a risk of giving.
　本発明が解決しようとする課題は、倒立振子型車両の走行を支援し、初心者や高齢者、身障者でも、慣れを要したり、不安を抱いたりすることなく倒立振子型車両を使用できるようにし、搭乗対象者の拡大を図ることである。 The problem to be solved by the present invention is to support the traveling of an inverted pendulum type vehicle so that beginners, the elderly, and the handicapped can use the inverted pendulum type vehicle without needing to get used to or to feel uneasy. This is to increase the number of passengers.
　本発明の一つの実施形態による走行支援器具は、倒立振子制御によって走行する倒立振子型車両（１０）の走行を支援する走行支援器具であって、複数の車輪（１１６、１１８）と、前記複数の車輪（１１６、１１８）を取り付けられて自立して走行可能な枠体（１０２）と、前記枠体（１０２）を前記倒立振子型車両（１０）に連結するフレキシブルな連結部材（１２０）とを有する。 A travel support device according to an embodiment of the present invention is a travel support device that supports the travel of an inverted pendulum type vehicle (10) that travels by inverted pendulum control, and includes a plurality of wheels (116, 118) and the plurality of the travel support devices. Frame (102) to which the wheels (116, 118) are attached and capable of running independently, and a flexible connecting member (120) for connecting the frame (102) to the inverted pendulum type vehicle (10). Have
　この構成によれば、自立して走行可能な枠体（１０２）やフレキシブルな連結部材（１２０）の存在により、初心者や高齢者、身障者でも、慣れを要したり、不安を抱いたりすることなく倒立振子型車両（１０）を倒立振子制御に支障を与えることなく使用できるようになるので、搭乗対象者の拡大が図れる。また、走行支援器具（１００）に手荷物等を提げることにより、前記手荷物等が前記倒立振子型車両（１０）の重心移動の対象外となるので、安心して運ぶことができる。 According to this configuration, the presence of the frame (102) that can run independently and the flexible connecting member (120) prevents the beginner, the elderly, and the handicapped from getting used or worried. Since the inverted pendulum type vehicle (10) can be used without hindering the inverted pendulum control, the number of passengers can be increased. In addition, by providing baggage or the like to the travel support device (100), the baggage or the like is excluded from the center of gravity movement of the inverted pendulum type vehicle (10), and thus can be carried with peace of mind.
　上記走行支援器具において、好ましくは、前記連結部材（１２０）はゴム材によって構成されている。 In the travel support device, preferably, the connecting member (120) is made of a rubber material.
　この構成によれば、ゴム材の弾性力及び反発力が倒立振子型車両（１０）を傾斜させる操作及び倒立振子型車両（１０）を元の姿勢に戻す操縦に有効に作用し、倒立振子型車両（１０）の操作性が向上する。 According to this configuration, the elastic force and the repulsive force of the rubber material effectively act on the operation of tilting the inverted pendulum type vehicle (10) and the operation of returning the inverted pendulum type vehicle (10) to the original posture, and the inverted pendulum type. The operability of the vehicle (10) is improved.
　上記走行支援器具において、好ましくは、前記枠体（１０２）は、前記倒立振子型車両（１０）の左右の側方を前後方向に延在する部分を含む左右のサイド部材（１０４）と、前記倒立振子型車両（１０）の後方を左右方向に存在して前記左右のサイド部材（１０４）を互いに連結する後部部材（１０６、１０８）とを含んでいる。 In the travel support device, preferably, the frame (102) includes left and right side members (104) including portions extending in the front-rear direction on the left and right sides of the inverted pendulum type vehicle (10), A rear member (106, 108) that exists in the left-right direction behind the inverted pendulum type vehicle (10) and connects the left and right side members (104) to each other.
　この構成によれば、左右のサイド部材（１０４）が倒立振子型車両（１０）の左右方向の傾動に対する当接式のストッパとして作用し、倒立振子型車両（１０）が左右方向に過剰に傾動することが防止される。 According to this configuration, the left and right side members (104) act as contact stoppers for the tilting of the inverted pendulum type vehicle (10) in the left-right direction, and the inverted pendulum type vehicle (10) is tilted excessively in the left-right direction. Is prevented.
　上記走行支援器具において、好ましくは、前記連結部材（１２０）は左右方向に延在して前記左右のサイド部材（１０４）に係止される部分を含んでいる。 In the travel support device, preferably, the connecting member (120) includes a portion extending in the left-right direction and locked to the left and right side members (104).
　この構成によれば、走行支援器具（１００）の倒立振子型車両（１０）に対する連結が簡素な構造で行われる。 According to this configuration, the driving support device (100) is connected to the inverted pendulum type vehicle (10) with a simple structure.
　上記走行支援器具において、好ましくは、前記車輪は左右の前輪（１１６）及び後輪（１１８）を含み、少なくとも左右の前輪（１１６）は自在キャスタである。 In the above-described travel support device, preferably, the wheels include left and right front wheels (116) and a rear wheel (118), and at least the left and right front wheels (116) are free casters.
　この構成によれば、倒立振子型車両（１０）の前後左右方向の走行が走行支援器具（１００）によって阻害されることがない。 According to this configuration, traveling in the front-rear and left-right directions of the inverted pendulum type vehicle (10) is not hindered by the travel support device (100).
　上記走行支援器具において、好ましくは、前記走行支援器具（１００）は前記倒立振子型車両（１０）の最大前後長より長いホイールベースを有する。また、前記前輪（１１６）がステップ（１６）から遠い位置になるので、足の乗せ降ろしがし易くなる。 In the above-described travel support device, preferably, the travel support device (100) has a wheel base that is longer than the maximum longitudinal length of the inverted pendulum type vehicle (10). Further, since the front wheel (116) is located far from the step (16), it is easy to put a foot on and off.
　この構成によれば、走行支援器具（１００）の倒立振子型車両（１０）に対する前後方向の安定性が向上する。また、前記前輪（１１６）がステップ（１６）から遠い位置になるので、足の乗せ降ろしがし易くなる。 According to this configuration, the stability in the front-rear direction of the driving support device (100) with respect to the inverted pendulum type vehicle (10) is improved. Further, since the front wheel (116) is located far from the step (16), it is easy to put a foot on and off.
　上記走行装走行支援器具において、好ましくは、前記枠体（１０２）の左右に各々グリップ（１１４）が設けられている。 In the above-described travel support device, grips (114) are preferably provided on the left and right sides of the frame (102).
　この構成によれば、グリップ（１１４）を握られることにより、搭乗姿勢が安定し、安心感が増す。 According to this configuration, by gripping the grip (114), the riding posture is stabilized and the sense of security is increased.
　上記走行支援器具において、好ましくは、前記枠体（１０２）の左右に各々アームレスト（１１５）が設けられている。 In the travel support device, preferably, armrests (115) are respectively provided on the left and right sides of the frame (102).
　この構成によれば、搭乗者がアームレスト（１１５）に肘を載せることにより、搭乗姿勢が安定し、安心感が増す。 According to this configuration, when the passenger puts his elbow on the armrest (115), the riding posture is stabilized and the sense of security is increased.
　本発明の一つの実施形態による走行装置は、倒立振子制御によって走行する倒立振子型車両と、上述した本発明の実施形態による走行支援器具とを含む。 A travel device according to one embodiment of the present invention includes an inverted pendulum type vehicle that travels by inverted pendulum control and the above-described travel support device according to the embodiment of the present invention.
　この構成によれば、自立して走行可能な枠体（１０２）やフレキシブルな連結部材（１２０）の存在により、初心者や高齢者、身障者でも、慣れを要したり、不安を抱いたりすることなく倒立振子型車両（１０）を使用できるようになるので、搭乗対象者の拡大が図れる。 According to this configuration, the presence of the frame (102) that can run independently and the flexible connecting member (120) prevents the beginner, the elderly, and the handicapped from getting used or worried. Since the inverted pendulum type vehicle (10) can be used, the number of passengers can be increased.
　本発明による走行支援器具によれば、倒立振子型車両の走行を支援し、初心者や高齢者、身障者でも、慣れを要することなく倒立振子型車両を安心して使用できるので、搭乗対象者の拡大が図れる。 According to the driving support apparatus according to the present invention, the inverted pendulum type vehicle is supported, and even the beginner, the elderly, and the disabled can use the inverted pendulum type vehicle with no need to get used to it. I can plan.
本発明による走行支援機器を含む走行装置の一つの実施形態を示す斜視図The perspective view which shows one Embodiment of the traveling apparatus containing the driving assistance apparatus by this invention. 本実施形態による走行装置の側面図Side view of traveling device according to this embodiment 本実施形態による走行装置の平面図The top view of the traveling apparatus by this embodiment 本実施形態による走行装置の正面図（アウタシェルを取り外した状態）Front view of the traveling device according to the present embodiment (with the outer shell removed) 本実施形態による走行装置に用いられる倒立振子型車両の制御系のブロック図Block diagram of a control system of an inverted pendulum type vehicle used in the traveling device according to the present embodiment 本発明による走行支援機器を含む走行装置の他の実施形態を示す斜視図The perspective view which shows other embodiment of the traveling apparatus containing the driving assistance apparatus by this invention. 本発明による走行支援機器を含む走行装置の他の実施形態を示す斜視図The perspective view which shows other embodiment of the traveling apparatus containing the driving assistance apparatus by this invention.
　以下に、本発明による走行支援器具を含む走行装置の一つの実施形態を、図１～図５を参照して説明する。 Hereinafter, an embodiment of a traveling apparatus including a traveling support device according to the present invention will be described with reference to FIGS. 1 to 5.
　走行装置１は、図１～図４に示されているように、倒立振子型車両１０と走行支援器具１００とを含む。 The traveling device 1 includes an inverted pendulum type vehicle 10 and a travel support device 100 as shown in FIGS.
　倒立振子型車両１０は、車体フレーム２０（図４参照）と、車体フレーム２０を被覆する薄肉構造のアウタシェル１２とを有する。車体フレーム２０は、上下に延びる左右一対のサイドポスト２２と、左右のサイドポスト２２を互いに連結するアッパビーム２４及びミドルビーム２６と、各サイドポスト２２の下部に取り付けられたサイドプレート２８とを含む。サイドポスト２２の上部には搭乗者が着座するシートであるサドル１４が取り付けられている。各サイドプレート２８の下部にはステップ１６が取り付けられている。 The inverted pendulum type vehicle 10 includes a body frame 20 (see FIG. 4) and a thin outer shell 12 that covers the body frame 20. The body frame 20 includes a pair of left and right side posts 22 extending vertically, an upper beam 24 and a middle beam 26 that connect the left and right side posts 22 to each other, and a side plate 28 attached to the lower portion of each side post 22. A saddle 14 as a seat on which a passenger sits is attached to the upper portion of the side post 22. A step 16 is attached to the lower part of each side plate 28.
　左右のサイドプレート２８は、当該左右のサイドプレート２８間を車幅方向（左右方向）に水平に延在するディスク支持軸３０の両端を支持している。ディスク支持軸３０は、左右のサイドプレート２８の内側に、左右のドライブディスク３２を個別に回転可能に支持している。 The left and right side plates 28 support both ends of a disc support shaft 30 extending horizontally between the left and right side plates 28 in the vehicle width direction (left and right direction). The disc support shaft 30 supports the left and right drive discs 32 inside the left and right side plates 28 so as to be individually rotatable.
　左右のドライブディスク３２間には主輪３４が配置されている。主輪３４は、金属製の円環部材３６と、円環部材３６の外周に取り付けられたゴム製の複数のドリブンローラ３８とを有する。各ドリブンローラ３８は、円環部材３６の環方向（円周方向）に列をなすように設けられ、各々自身の配置位置における円環部材３６の接線方向に延在する軸線周り（円環部材３６の断面中心周り）に個別に転動（自転）可能である。 A main wheel 34 is disposed between the left and right drive disks 32. The main wheel 34 has a metal ring member 36 and a plurality of rubber driven rollers 38 attached to the outer periphery of the ring member 36. Each driven roller 38 is provided so as to form a row in the ring direction (circumferential direction) of the ring member 36, and each of the driven rollers 38 is around an axis extending in the tangential direction of the ring member 36 at the position of the ring member 36. 36 (around the center of the cross section) can be individually rolled (rotated).
　各ドライブディスク３２は金属製の複数のドライブローラ４０を周方向に等間隔をおいて回転可能に支持している。左側のドライブディスク３２のドライブローラ４０と右側のドライブディスク３２のドライブローラ４０とは、各ドライブローラ４０の回転中心がドライブディスク３２の回転中心に対してねじれの関係となるように左右対称に同一個数配置されている。 Each drive disk 32 rotatably supports a plurality of metal drive rollers 40 at equal intervals in the circumferential direction. The drive roller 40 of the left drive disk 32 and the drive roller 40 of the right drive disk 32 are the same symmetrically so that the rotation center of each drive roller 40 is twisted with respect to the rotation center of the drive disk 32. The number is arranged.
　左右のドライブローラ４０は、各々、外周面をもってドリブンローラ３８の外周面に接触し、ドリブンローラ３８を左右両側から挟むようにして主輪３４を車幅方向（左右方向）に略水平に延在する中心軸線周りに回転可能に支持している。 The left and right drive rollers 40 are in contact with the outer peripheral surface of the driven roller 38 with their outer peripheral surfaces, and the main wheel 34 extends substantially horizontally in the vehicle width direction (left / right direction) so as to sandwich the driven roller 38 from both left and right sides. It is supported so that it can rotate around its axis.
　車体フレーム２０には走行駆動装置４２が取り付けられている。走行駆動装置４２は、右側電動モータ４４及び左側電動モータ４６と、減速装置４８とを含む。減速装置４８は、一つのギヤケース５０内に右側電動モータ４４用の減速ギヤ列（不図示）と左側電動モータ４６用の減速ギヤ列（不図示）とを有する。ギヤケース５０の左右両側には各ギヤ列の出力軸５２が突出している。 The traveling drive device 42 is attached to the body frame 20. The travel drive device 42 includes a right electric motor 44, a left electric motor 46, and a speed reducer 48. The reduction gear 48 has a reduction gear train (not shown) for the right electric motor 44 and a reduction gear train (not shown) for the left electric motor 46 in one gear case 50. An output shaft 52 of each gear train protrudes from the left and right sides of the gear case 50.
　各出力軸５２にはドライブプーリ５４が取り付けられている。各ドライブディスク３２にはドリブンプーリ５６が取り付けられている。ドライブプーリ５４及びドリブンプーリ５６には左右対応するもの同士を駆動連結するコグベルト５８が掛け渡されている。これにより、右側電動モータ４４は右側のドライブディスク３２を、左側電動モータ４６左側のドライブディスク３２を各々個別に回転駆動する。 A drive pulley 54 is attached to each output shaft 52. A driven pulley 56 is attached to each drive disk 32. The drive pulley 54 and the driven pulley 56 are hung around a cog belt 58 that drives and connects the corresponding ones on the left and right. As a result, the right electric motor 44 individually drives the right drive disk 32 and the left electric motor 46 to rotate the left drive disk 32 individually.
　車体フレーム２０はサイドプレート２８において尾輪支持アーム６０（図１及び図２参照）の前端を左右水平方向に延在する軸線周りに回動可能に支持している。尾輪支持アーム６０は、図１及び図２に示されているように、後端においてオムニホイールによる尾輪６２を前後方向に延在する軸線周りに回転支持している。尾輪６２は尾輪支持アーム６０に設けられた尾輪用電動モータ６４（図５参照）によって前後方向に延在する軸線周りに回転駆動される。 The body frame 20 supports the front end of the tail wheel support arm 60 (see FIGS. 1 and 2) on the side plate 28 so as to be rotatable around an axis extending in the horizontal direction. As shown in FIGS. 1 and 2, the tail wheel support arm 60 rotatably supports a tail wheel 62 by an omni wheel around an axis extending in the front-rear direction at the rear end. The tail wheel 62 is rotationally driven around an axis extending in the front-rear direction by a tail wheel electric motor 64 (see FIG. 5) provided on the tail wheel support arm 60.
　次に、倒立振子型車両１０の制御系を、図５を参照して説明する。倒立振子型車両１０は、車体フレーム２０に取り付けられたジャイロセンサ（傾斜角検出装置）６６及び倒立振子制御のための制御装置８０を含む。ジャイロセンサ６６は、車体フレーム２０の鉛直線に対する前後左右の傾斜角を検出し、検出値を制御装置８０に出力する。制御装置８０は、マイクロコンピュータを含む電子制御式のものであり、コンピュータプログラムを実行することにより、傾斜角算出部８１と、角速度算出部８２と、角加速度算出部８３と、重心算出部８４と、倒立振子制御部８５と、旋回制御部８６とを具現化する。 Next, the control system of the inverted pendulum type vehicle 10 will be described with reference to FIG. The inverted pendulum type vehicle 10 includes a gyro sensor (tilt angle detection device) 66 attached to the vehicle body frame 20 and a control device 80 for controlling the inverted pendulum. The gyro sensor 66 detects front, rear, left and right inclination angles with respect to the vertical line of the body frame 20 and outputs the detected values to the control device 80. The control device 80 is of an electronic control type including a microcomputer, and by executing a computer program, an inclination angle calculation unit 81, an angular velocity calculation unit 82, an angular acceleration calculation unit 83, and a gravity center calculation unit 84, The inverted pendulum control unit 85 and the turning control unit 86 are embodied.
　傾斜角算出部８１はジャイロセンサ６６の出力信号（検出値）から車体フレーム２０の鉛直線に対する前後及び左右の傾斜角を算出する。角速度算出部８２は傾斜角算出部８１によって算出された傾斜角から角速度を算出する。角加速度算出部８３は角速度算出部８２によって算出された角速度から角加速度を算出する。重心算出部８４は、各算出部８１、８２、８３によって算出された車体フレーム２０の前後左右の傾斜角、角速度及び角加速度の変化よりサドル１４に着座した乗員を含む倒立振子型車両１０全体の重心位置を算出する。 The inclination angle calculation unit 81 calculates the front and rear and left and right inclination angles with respect to the vertical line of the vehicle body frame 20 from the output signal (detection value) of the gyro sensor 66. The angular velocity calculator 82 calculates the angular velocity from the inclination angle calculated by the inclination angle calculator 81. The angular acceleration calculation unit 83 calculates an angular acceleration from the angular velocity calculated by the angular velocity calculation unit 82. The center-of-gravity calculation unit 84 includes the entire inverted pendulum type vehicle 10 including the occupant seated on the saddle 14 based on changes in the tilt angle, the angular velocity, and the angular acceleration of the vehicle body frame 20 calculated by the calculation units 81, 82, and 83. The center of gravity position is calculated.
　倒立振子制御部８５は、重心算出部８４によって算出された重心に基づいて倒立振子制御則による演算処理を行って走行方向を設定し、右側モータ駆動回路８８と左側モータ駆動回路９０とに個別に指令信号を出力する。旋回制御部８６は、重心算出部８４によって算出された重心に基づいて旋回制御則による演算処理を行って旋回方向を設定し、尾輪モータ駆動回路９２に指令信号を出力する。各モータ駆動回路８８、９０、９２は、インバータ等を含み、車体フレーム２０に搭載されているバッテリ（不図示）から各電動モータ４４、４６、６４に供給する電力を制御する。 The inverted pendulum control unit 85 performs a calculation process based on the inverted pendulum control law based on the center of gravity calculated by the center of gravity calculation unit 84 to set the traveling direction, and individually sets the right motor drive circuit 88 and the left motor drive circuit 90 separately. A command signal is output. The turning control unit 86 performs a calculation process based on the turning control law based on the center of gravity calculated by the center of gravity calculating unit 84 to set a turning direction, and outputs a command signal to the tail wheel motor drive circuit 92. Each motor drive circuit 88, 90, 92 includes an inverter or the like, and controls electric power supplied to each electric motor 44, 46, 64 from a battery (not shown) mounted on the vehicle body frame 20.
　次に、上述の構成による倒立振子型車両１０の動作について説明する。 Next, the operation of the inverted pendulum type vehicle 10 configured as described above will be described.
　制御装置８０は、乗員を含む倒立振子型車両１０の重心がニュートラル位置にある時には、車体フレーム２０を直立姿勢に維持すべく、右側電動モータ４４及び左側電動モータ４６の駆動を制御する。なお、この時には尾輪用電動モータ６４は駆動されない。これにより、倒立振子型車両１０は、走行も旋回もせず、直立姿勢で停車状態になる。 When the center of gravity of the inverted pendulum type vehicle 10 including the occupant is in the neutral position, the control device 80 controls the driving of the right electric motor 44 and the left electric motor 46 in order to maintain the body frame 20 in an upright posture. At this time, the tail wheel electric motor 64 is not driven. As a result, the inverted pendulum type vehicle 10 does not travel or turn, and stops in an upright posture.
　制御装置８０は、乗員を含む倒立振子型車両１０の重心がニュートラル位置より前方に移動すると、前進走行すべく、右側電動モータ４４及び左側電動モータ４６をそれぞれ正転方向に同一速度で駆動する制御を行う。この右側電動モータ４４及び左側電動モータ４６の駆動によって、左右のドライブディスク３２が同一速度で正回転し、主輪３４が自身の輪中心を回転軸として正回転、つまり、前進方向に公転する。この時には、左右のドライブディスク３２に回転速度差が生じないため、ドライブローラ４０及びドリブンローラ３８は自転せず、倒立振子型車両１０は少し前傾した姿勢を保って真っ直ぐに前進する。尚、この時には尾輪用電動モータ６４は駆動されない。 When the center of gravity of the inverted pendulum type vehicle 10 including the occupant moves forward from the neutral position, the control device 80 controls the right electric motor 44 and the left electric motor 46 to drive forward at the same speed in order to travel forward. I do. By driving the right electric motor 44 and the left electric motor 46, the left and right drive disks 32 rotate forward at the same speed, and the main wheel 34 rotates forward about its own wheel center as a rotation axis, that is, revolves in the forward direction. At this time, there is no difference in rotational speed between the left and right drive disks 32, so that the drive roller 40 and the driven roller 38 do not rotate, and the inverted pendulum type vehicle 10 advances straight while maintaining a slightly forward tilted posture. At this time, the tail wheel electric motor 64 is not driven.
　制御装置８０は、乗員を含む倒立振子型車両１０の重心がニュートラル位置より後方に移動すると、後進走行すべく、右側電動モータ４４及び左側電動モータ４６をそれぞれ逆転方向に同一速度で駆動する制御を行う。この右側電動モータ４４及び左側電動モータ４６の駆動によって、左右のドライブディスク３２が同一速度で逆回転し、主輪３４が自身の輪中心を回転軸として逆回転、つまり、後進方向に公転する。この時には、左右のドライブディスク３２に回転速度差が生じないため、ドライブローラ４０及びドリブンローラ３８は自転せず、倒立振子型車両１０は少し後傾した姿勢で真っ直ぐに後進する。尚、この時も尾輪用電動モータ６４は駆動されない。 When the center of gravity of the inverted pendulum type vehicle 10 including the occupant moves rearward from the neutral position, the control device 80 controls to drive the right electric motor 44 and the left electric motor 46 in the reverse direction at the same speed in order to travel backward. Do. By driving the right electric motor 44 and the left electric motor 46, the left and right drive disks 32 rotate in reverse at the same speed, and the main wheel 34 rotates in reverse, that is, revolves in the reverse direction, with its own wheel center as the rotation axis. At this time, since there is no difference in rotational speed between the left and right drive disks 32, the drive roller 40 and the driven roller 38 do not rotate, and the inverted pendulum type vehicle 10 moves backward in a slightly tilted posture. At this time, the tail wheel electric motor 64 is not driven.
　制御装置８０は、乗員を含む倒立振子型車両１０全体の重心がニュートラル位置より左前方或いは右前方に移動すると、旋回すべく、右側電動モータ４４及び左側電動モータ４６を駆動せず、尾輪用電動モータ６４を駆動する制御を行う。尾輪用電動モータ６４の駆動によって尾輪６２が前後方向に延在する中心軸線周りに回転する。これにより、倒立振子型車両１０は主輪３４の床面に対する接地点を旋回中心として右旋回或いは左旋回する。 When the center of gravity of the entire inverted pendulum type vehicle 10 including the occupant moves to the left front or right front from the neutral position, the control device 80 does not drive the right electric motor 44 and the left electric motor 46 to turn, but for the tail wheel. Control for driving the electric motor 64 is performed. The tail wheel 62 rotates around the central axis extending in the front-rear direction by driving the tail wheel electric motor 64. Thereby, the inverted pendulum type vehicle 10 turns right or left with the contact point with respect to the floor surface of the main wheel 34 as the turning center.
　制御装置８０は、乗員を含む倒立振子型車両１０全体の重心がニュートラル位置より左真横或いは右真横に移動すると、真横走行すべく、右側電動モータ４４と左側電動モータ４６とを互いに異なる回転方向に同一の回転速度に駆動する制御を行う。この時には、主輪３４は全く公転せず、ドリブンローラ３８だけが自転し、倒立振子型車両１０は、少し左倒或いは右倒した姿勢を保って左方向或いは右方向に真横走行する。尚、この時も尾輪用電動モータ６４は駆動される。 When the center of gravity of the entire inverted pendulum type vehicle 10 including the occupant moves to the left or right side of the neutral position, the control device 80 moves the right electric motor 44 and the left electric motor 46 in different rotational directions so as to run sideways. Control to drive to the same rotation speed is performed. At this time, the main wheel 34 does not revolve at all, only the driven roller 38 rotates, and the inverted pendulum type vehicle 10 travels sideways in the left or right direction while maintaining a slightly left or right-down posture. At this time, the tail wheel electric motor 64 is driven.
　走行支援器具１００は、図１～図４に示されているように、枠体１０２を有する。枠体１０２は左右一対のサイド部材１０４を有する。各サイド部材１０４は、パイプ材による折曲成形品であり、倒立振子型車両１０の左右の側方を各々前後方向に延在する部分を含む上部水平部１０４Ａと、上部水平部１０４Ａの前端から下方前側に傾斜して延在するフロントポスト部１０４Ｂと、フロントポスト部１０４Ｂと前端から前方に延出したフロント延長部１０４Ｃと、上部水平部１０４Ａの後端から下方後側に傾斜して延在するリヤポスト１０４Ｄとを含む。左右のサイド部材１０４は左右のリヤポスト１０４Ｄ間に延在する上下２個のリヤクロスパイプ（リヤ部材）１０６、１０８によって互いに接続されている。これにより、枠体１０２は、走行支援器具１００の左右及び後部を取り囲むように、平面視でコ字形をしている。枠体１０２は、各々上部水平部１０４Ａと平行に延在して各サイド部材１０４のフロントポスト部１０４Ｂとリヤポスト１０４Ｄとを互いに接続する左右の上部補助パイプ１１０及び下部補助パイプ１１２を有する。左右の上部水平部１０４Ａにはグリップ１１４が取り付けられている。 The travel support device 100 has a frame 102 as shown in FIGS. The frame body 102 has a pair of left and right side members 104. Each side member 104 is a bent product made of a pipe material, and includes an upper horizontal portion 104A including portions extending in the front-rear direction on the left and right sides of the inverted pendulum type vehicle 10, and a front end of the upper horizontal portion 104A. Front post portion 104B extending obliquely toward the lower front side, front post portion 104B, front extension portion 104C extending forward from the front end, and inclined extending rearward from the rear end of upper horizontal portion 104A Rear post 104D. The left and right side members 104 are connected to each other by two upper and lower rear cross pipes (rear members) 106 and 108 extending between the left and right rear posts 104D. As a result, the frame body 102 has a U shape in plan view so as to surround the left and right sides and the rear part of the travel support device 100. The frame 102 has left and right upper auxiliary pipes 110 and lower auxiliary pipes 112 that extend in parallel with the upper horizontal portion 104A and connect the front post portion 104B and the rear post 104D of each side member 104 to each other. A grip 114 is attached to the left and right upper horizontal portions 104A.
　各フロント延長部１０４Ｃの前端には首振り可能な自在キャスタによる左右の前輪１１６が取り付けられている。各リヤポスト１０４Ｄの下端には首振り可能な自在キャスタによる左右の後輪１１８が取り付けられている。これにより、走行支援器具１００は、四輪車をなし、安定した自立姿勢で走行可能（移動可能）である。 The left and right front wheels 116 are attached to the front end of each front extension 104C by swingable free casters. At the lower end of each rear post 104D, left and right rear wheels 118 are attached by swingable casters. As a result, the travel support device 100 is a four-wheeled vehicle and can travel (movable) in a stable self-supporting posture.
　左右のサイド部材１０４及びリヤクロスパイプ１０６、１０８によって囲まれた空間に、倒立振子型車両１０が配置される。 The inverted pendulum type vehicle 10 is disposed in a space surrounded by the left and right side members 104 and the rear cross pipes 106 and 108.
　走行装置１は、更に、上述の如く配置された倒立振子型車両１０と走行支援器具１００とを互いに連結するフレキシブルな連結部材として、ゴムベルト１２０を有する。ゴムベルト１２０は、左右方向に延在して両端を上部補助パイプ１１０に係止され、中間部をアウタシェル１２とサドル１４とによって挟まれるようにして倒立振子型車両１０に係止され、ゴム伸縮によって倒立振子型車両１０を走行支援器具１００に前後方向及び左右方向の双方に自在に傾動可能に連結している。 The traveling device 1 further includes a rubber belt 120 as a flexible coupling member that couples the inverted pendulum type vehicle 10 and the traveling support device 100 arranged as described above. The rubber belt 120 extends in the left-right direction, and both ends are locked to the upper auxiliary pipe 110, and an intermediate portion is locked to the inverted pendulum type vehicle 10 so as to be sandwiched between the outer shell 12 and the saddle 14, and by rubber expansion and contraction. The inverted pendulum type vehicle 10 is connected to the travel support device 100 so as to be freely tiltable in both the front-rear direction and the left-right direction.
　尚、ゴムベルト１２０は、倒立振子型車両１０が垂直に起立した姿勢にある時に、弛みがない緊張状態になる設定であっても、弛みがある設定の何れであってもよく、また、弛み具合を調整できるものであってもよく、搭乗者の経験度等に応じて設定されればよい。 It should be noted that the rubber belt 120 may be set to be in a tension state where there is no slack when the inverted pendulum type vehicle 10 is in a vertically upright posture, or in a setting where there is slack. Can be adjusted, and may be set according to the degree of experience of the passenger.
　枠体１０２の横巾、つまり、左右のサイド部材１０４の間隔は図３及び図４に示されているように、倒立振子型車両１０の最大横巾より大きい。このような横巾の走行支援器具１００において、倒立振子型車両１０はゴムベルト１２０によって走行支援器具１００の左右方向の略中央部に配置される。これにより、枠体１０２は、倒立振子型車両１０が垂直に起立した姿勢にある時には倒立振子型車両１０に接触することがなく、倒立振子型車両１０が左右方向に所定の角度、傾斜すると、倒立振子型車両１０に接触し、倒立振子型車両１０がそれ以上、左右方向に傾斜することを阻止する当接式のストッパとして作用する。尚、リヤクロスパイプ１０６、１０８の存在により、倒立振子型車両１０の後傾も、同様の当接式のストッパ作用によって過剰に後傾することが阻止される。 The horizontal width of the frame 102, that is, the interval between the left and right side members 104 is larger than the maximum horizontal width of the inverted pendulum type vehicle 10 as shown in FIGS. In such a laterally wide travel support device 100, the inverted pendulum type vehicle 10 is disposed at a substantially central portion in the left-right direction of the travel support device 100 by the rubber belt 120. Thereby, the frame body 102 does not contact the inverted pendulum type vehicle 10 when the inverted pendulum type vehicle 10 is in a vertically upright posture, and when the inverted pendulum type vehicle 10 is tilted by a predetermined angle in the left-right direction, It acts as a contact-type stopper that contacts the inverted pendulum type vehicle 10 and prevents the inverted pendulum type vehicle 10 from further tilting in the left-right direction. It should be noted that the presence of the rear cross pipes 106 and 108 prevents the backward tilting of the inverted pendulum type vehicle 10 from being excessively backwardly tilted by the similar contact-type stopper action.
　走行支援器具１００の左右の前輪１１６と左右の後輪１１８との間隔、つまり、ホイールベースは、図１及び図２に示されているように、倒立振子型車両の最大前後長より長い。このようなホイールベースの走行支援器具１００において、倒立振子型車両１０はゴムベルト１２０によって走行支援器具１００の後輪１１８側に偏って配置され、前輪１１６は概ねフロント延長部１０４Ｃの前後長だけ倒立振子型車両１０の前部より前方に位置する。尚、走行支援器具１００に対する倒立振子型車両１０の前後方向の位置は応じて変更可能になっていてよい。 The distance between the left and right front wheels 116 and the left and right rear wheels 118 of the driving support device 100, that is, the wheel base is longer than the maximum longitudinal length of the inverted pendulum type vehicle, as shown in FIGS. In such a wheel-based travel support device 100, the inverted pendulum type vehicle 10 is arranged with a rubber belt 120 biased toward the rear wheel 118 side of the travel support device 100, and the front wheel 116 is generally an inverted pendulum by the longitudinal length of the front extension 104C. It is located in front of the front part of the type vehicle 10. It should be noted that the position of the inverted pendulum type vehicle 10 in the front-rear direction with respect to the travel support device 100 may be changed accordingly.
　このように、倒立振子型車両１０は、走行支援器具１００に連結され、搭乗者がサドル１４に着座し、左右の足を各ステップ１６に載せられた状態で、搭乗者の重心移動に応じて重心の移動方向に走行支援器具１００と共に走行する。走行支援器具１００の前輪１１６及び後輪１１８の全てが自在キャスタであることにより、倒立振子型車両１０の前後方向や左右方向の走行が走行支援器具１００によって阻害されることはなく、倒立振子型車両１０は走行支援器具１００と連結されていない単機の場合の同様に動作する。 In this way, the inverted pendulum type vehicle 10 is connected to the travel support device 100, and the passenger sits on the saddle 14 and the left and right feet are placed on each step 16 in accordance with the movement of the center of gravity of the passenger. It travels with the travel support instrument 100 in the direction of movement of the center of gravity. Since all of the front wheels 116 and the rear wheels 118 of the traveling support device 100 are free casters, the traveling support device 100 does not obstruct the traveling of the inverted pendulum type vehicle 10 in the front-rear direction and the left-right direction. The vehicle 10 operates in the same manner as in the case of a single machine that is not connected to the travel support device 100.
　倒立振子型車両１０が安定して自立して走行可能な四輪車による走行支援器具１００に連結されることにより、倒立振子型車両１０と走行支援器具１００とによる走行装置１が見て安定感が増し、初心者や高齢者、身障者でも、倒立振子型車両１０を、安心感をもって使用できるようにすることに寄与する。これにより、倒立振子型車両１０の搭乗対象者（使用者）の拡大が図られる。 When the inverted pendulum type vehicle 10 is connected to a four-wheeled vehicle driving support device 100 that can stably run independently, the traveling device 1 by the inverted pendulum type vehicle 10 and the driving support device 100 can be seen and stable. This contributes to enabling the inverted pendulum type vehicle 10 to be used with a sense of security even for beginners, the elderly, and the handicapped. Thereby, expansion of the boarding subject (user) of the inverted pendulum type vehicle 10 is achieved.
　倒立振子型車両１０が左右方向に大きく傾くことは、倒立振子型車両１０の左右両側方に存在する走行支援器具１００の左右のサイド部材１０４によって阻止される。これにより、倒立振子型車両１０の倒立振子状態の安定性が向上し、倒立振子型車両１０が左右方向に転倒しないかと云う不安を搭乗者に与える不安感が払拭される。 The tilting of the inverted pendulum type vehicle 10 in the left-right direction is prevented by the left and right side members 104 of the driving support device 100 existing on both the left and right sides of the inverted pendulum type vehicle 10. As a result, the stability of the inverted pendulum type vehicle 10 in the inverted pendulum state is improved, and the anxiety that gives the passenger anxiety that the inverted pendulum type vehicle 10 will fall in the left-right direction is eliminated.
　手荷物等は、枠体１０２に吊り下げられる等として走行支援器具１００によって支持されればよく、倒立振子型車両１０の重心移動の対象外となるので、手荷物等は、安心して運ぶことができる。 It is sufficient that the baggage or the like is supported by the travel support device 100 as being suspended from the frame 102, and the baggage and the like are excluded from the center of gravity movement of the inverted pendulum type vehicle 10, so that the baggage and the like can be carried safely.
　搭乗者は、走行支援器具１００の左右の上部水平部１０４Ａに設けられている左右のグリップ１１４を左右の手で握ることにより、搭乗姿勢が安定し、安心感が増す。併せて過剰に重心移動することが未然に防止され、バランスを崩すことが回避される。また、搭乗者が前後方向や左右方向にバランスを崩そうとした際は、上部補助パイプ１１０や下部補助パイプ１１２を左右の手で握ることにより、元の姿勢に容易に復帰でき、バランスを崩すことが未然に防止される。 The passenger stabilizes the boarding posture and increases the sense of security by holding the left and right grips 114 provided on the left and right upper horizontal portions 104A of the driving support device 100 with the left and right hands. In addition, it is possible to prevent the center of gravity from moving excessively, and to avoid losing balance. When the passenger tries to lose balance in the front-rear direction or the left-right direction, the user can easily return to the original posture by holding the upper auxiliary pipe 110 and the lower auxiliary pipe 112 with the left and right hands, and the balance is lost. This is prevented beforehand.
　更には、搭乗者は、左右のグリップ１１４を左右の手で握り、左右の足を床面に着地させた状態で、サドル１４に対する着座部において重心移動を安定して行うことができ、移動方向が自在の身障者向けの車椅子のようになる。 Furthermore, the passenger can stably move the center of gravity at the seating portion with respect to the saddle 14 while holding the left and right grips 114 with the left and right hands and landing the left and right feet on the floor surface. It becomes like a wheelchair for people with disabilities.
　走行支援器具１００は、ホイールベースが倒立振子型車両１０の最大前後長より長いことにより、倒立振子型車両１０に前後方向の傾動に対する前後方向の安定性がよく、搭乗者が前後方向にバランスを崩しても、前後方向に倒れることがない。更には、前輪１１６が概ねフロント延長部１０４Ｃの前後長だけ倒立振子型車両１０の前部より前方にあることにより、搭乗者が前方向にバランスを崩しても、走行支援器具１００が前方向に倒れることが、より一層、確実に生じ難くなる。また、前輪１１６がステップ１６から遠い位置になるので、前輪１１６が邪魔になることなく、ステップ１６に対する足の乗せ降ろしがし易くなる。 The driving support device 100 has a longer wheelbase than the maximum longitudinal length of the inverted pendulum type vehicle 10, so that the inverted pendulum type vehicle 10 has good stability in the front-rear direction against tilting in the front-rear direction, and the passenger is balanced in the front-rear direction. Even if it collapses, it does not fall down in the front-rear direction. Further, since the front wheel 116 is approximately in front of the front portion of the inverted pendulum type vehicle 10 by the front and rear length of the front extension 104C, even if the passenger loses the balance in the forward direction, the driving support device 100 is moved in the forward direction. It becomes even more difficult to fall. In addition, since the front wheel 116 is located far from the step 16, the front wheel 116 does not get in the way and the step 16 can be easily put on and off.
　また、倒立振子型車両１０と走行支援器具１００とがゴムベルト１２０によって連結されていると、倒立振子型車両１０が左右方向あるいは前後方向の傾動に応じてゴムベルト１２０が弾性によって伸長し、倒立振子型車両１０の傾動に対して反力（抵抗力）が生じるのから、搭乗者は体感する反力の具合に応じて倒立振子型車両１０の傾斜具合を知ることができる。このことにより、倒立振子型車両１０の操作性が向上する。 Further, when the inverted pendulum type vehicle 10 and the driving support device 100 are connected by the rubber belt 120, the rubber belt 120 is elastically extended in accordance with the tilting of the inverted pendulum type vehicle 10 in the left-right direction or the front-rear direction, and the inverted pendulum type. Since a reaction force (resistance force) is generated with respect to the tilting of the vehicle 10, the passenger can know the tilting state of the inverted pendulum type vehicle 10 according to the reaction force experienced. As a result, the operability of the inverted pendulum type vehicle 10 is improved.
　また、ゴムベルト１２０の反発力によって倒立振子型車両１０を直立姿勢に戻す力が倒立振子型車両１０に作用するから、搭乗者が倒立振子型車両１０を傾斜姿勢から直立姿勢に戻す操作に対して追従する。このことによっても、倒立振子型車両１０の操作性が向上する。 Further, since the force that returns the inverted pendulum type vehicle 10 to the upright posture by the repulsive force of the rubber belt 120 acts on the inverted pendulum type vehicle 10, the rider can perform the operation to return the inverted pendulum type vehicle 10 from the inclined posture to the upright posture. Follow. This also improves the operability of the inverted pendulum type vehicle 10.
　このようにして、走行支援器具１００によって倒立振子型車両１０の操縦、走行が支援されることにより、初心者や高齢者、身障者でも、不安を抱くことなく、また慣れを要することなく倒立振子型車両１０を安心して使用できるようになり、倒立振子型車両１０の搭乗対象者の拡大が図られる。 In this way, the driving support device 100 supports the operation and driving of the inverted pendulum type vehicle 10, so that even a beginner, elderly person, or handicapped person does not have anxiety and does not need to get used to the inverted pendulum type vehicle. 10 can be used with peace of mind, and the number of passengers on the inverted pendulum type vehicle 10 can be increased.
　次に、本発明による走行支援器具を含む走行装置の他の実施形態を、図６を参照して説明する。なお、図６において、図１に対応する部分は、図６に付した符号と同一の符号を付けて、その説明を省略する。 Next, another embodiment of the traveling apparatus including the traveling support tool according to the present invention will be described with reference to FIG. 6, parts corresponding to those in FIG. 1 are denoted by the same reference numerals as those in FIG. 6, and description thereof is omitted.
　本実施形態では、走行支援器具１００の左右の後輪が首振り不能の固定キャスタによって構成されている。尾輪用電動モータ６４は省略され、尾輪６２は左右方向に延在する中心軸線周りに回転可能な固定キャスタと同等の車輪によって構成されている。 In this embodiment, the left and right rear wheels of the travel support device 100 are configured by fixed casters that cannot swing. The tail wheel electric motor 64 is omitted, and the tail wheel 62 is constituted by a wheel equivalent to a fixed caster that can rotate around a central axis extending in the left-right direction.
　この実施形態では、走行装置１は、左右方向には移動できず、搭乗者が左右方向に重心移動した際には、尾輪６２や後輪１１８を支点として旋回移動する。このこと以外は、上述の実施形態と同様に動作する。 In this embodiment, the traveling device 1 cannot move in the left-right direction, and when the occupant moves the center of gravity in the left-right direction, the traveling device 1 turns around the tail wheel 62 or the rear wheel 118 as a fulcrum. Other than this, the operation is the same as in the above-described embodiment.
　したがって、この実施形態でも、上述の実施形態と同様の効果が得られる。 Therefore, in this embodiment, the same effect as that of the above-described embodiment can be obtained.
　次に、本発明による走行支援器具を含む走行装置の他の実施形態を、図７を参照して説明する。なお、図７において、図１に対応する部分は、図６に付した符号と同一の符号を付けて、その説明を省略する。 Next, another embodiment of the traveling device including the traveling support tool according to the present invention will be described with reference to FIG. 7, parts corresponding to those in FIG. 1 are denoted by the same reference numerals as those in FIG. 6, and description thereof is omitted.
　本実施形態では、走行支援器具１００の左右の上部水平部１０４Ａの各々にグリップ１１４に代えてアームレスト１１５が取り付けられている。 In this embodiment, an armrest 115 is attached to each of the left and right upper horizontal portions 104A of the driving support device 100 in place of the grip 114.
　本実施形態では、搭乗者が左右のアームレスト１１５に左右の肘を載せることにより、搭乗者の姿勢が安定すると共に安心感が増し、倒立振子型車両１０の操縦が容易になる。 In this embodiment, the rider puts the left and right elbows on the left and right armrests 115, so that the posture of the rider is stabilized and the sense of security is increased, and the inverted pendulum type vehicle 10 can be easily operated.
　以上、本発明を、その好適な実施形態について説明したが、当業者であれば容易に理解できるように、本発明はこのような実施形態により限定されるものではなく、本発明の趣旨を逸脱しない範囲で適宜変更可能である。 Although the present invention has been described above with reference to preferred embodiments thereof, the present invention is not limited to such embodiments and can be deviated from the spirit of the present invention, as will be readily understood by those skilled in the art. It is possible to change appropriately within the range not to be.
　例えば、倒立振子型車両１０と走行支援器具１００とを連結部材は、ゴムベルト１２０に限られることなく、倒立振子型車両１０の傾動を許容するならば、伸縮性や可撓性を有する紐やハンモックのような布、ばね、金属製のテレスコピング部材等であってもよい。また、連結部材が紐やハンモックのような布の場合、それ自体は伸縮性がなくても、長めのものが用いられて倒立振子型車両１０と走行支援器具１００とを弛みをもって連結するものであればよい。 For example, the connecting member between the inverted pendulum type vehicle 10 and the travel support device 100 is not limited to the rubber belt 120, and if the tilting of the inverted pendulum type vehicle 10 is allowed, a stretchable or flexible string or hammock Such a cloth, a spring, or a metal telescoping member may be used. In addition, when the connecting member is a cloth such as a string or a hammock, a long one is used to connect the inverted pendulum type vehicle 10 and the driving support device 100 with a slackness, even if the connecting member itself is not stretchable. I just need it.
　走行支援器具１００に、四輪車に限られることはなく、自立して走行可能であれば、三輪車でも、四輪を超えた多輪のものであってもよく、輪数が増えるほど、走行支援器具１００の自立の安定度が向上する。 The driving support device 100 is not limited to a four-wheeled vehicle, and may be a three-wheeled vehicle or a multi-wheeled vehicle that exceeds four wheels as long as it can run independently. The independence stability of the support device 100 is improved.
　また、上記実施形態に示した構成要素は必ずしも全てが必須なものではなく、本発明の趣旨を逸脱しない限りにおいて適宜取捨選択することが可能である。例えば、倒立振子型車両１０の尾輪６２は、必須でなく、省略されてもよい。 Further, all the components shown in the above embodiment are not necessarily essential, and can be appropriately selected without departing from the spirit of the present invention. For example, the tail wheel 62 of the inverted pendulum type vehicle 10 is not essential and may be omitted.
１　　　　：走行装置
１０　　　：倒立振子型車両
１２　　　：アウタシェル
１４　　　：サドル
１６　　　：ステップ
２０　　　：車体
２２　　　：サイドポスト
２４　　　：アッパビーム
２６　　　：ミドルビーム
２８　　　：サイドプレート
３０　　　：ディスク支持軸
３２　　　：ドライブディスク
３４　　　：主輪
３６　　　：円環部材
３８　　　：ドリブンローラ
４０　　　：ドライブローラ
４２　　　：走行駆動装置
４４　　　：右側電動モータ
４６　　　：左側電動モータ
４８　　　：減速装置
５０　　　：ギヤケース
５２　　　：出力軸
５４　　　：ドライブプーリ
５６　　　：ドリブンプーリ
５８　　　：コグベルト
６０　　　：尾輪支持アーム
６２　　　：尾輪
６４　　　：尾輪用電動モータ
６６　　　：ジャイロセンサ
８０　　　：制御装置
８１　　　：傾斜角算出部
８２　　　：角速度算出部
８３　　　：角加速度算出部
８４　　　：重心算出部
８５　　　：倒立振子制御部
８６　　　：旋回制御部
８８　　　：右側モータ駆動回路
９０　　　：左側モータ駆動回路
９２　　　：尾輪モータ駆動回路
１００　　：走行支援器具
１０２　　：枠体
１０４　　：サイド部材
１０４Ａ　：上部水平部
１０４Ｂ　：フロントポスト部
１０４Ｃ　：フロント延長部
１０４Ｄ　：リヤポスト
１０６　　：リヤクロスパイプ（後部部材）
１０８　　：リヤクロスパイプ（後部部材）
１１０　　：上部補助パイプ
１１２　　：下部補助パイプ
１１４　　：グリップ
１１５　　：アームレスト
１１６　　：前輪
１１８　　：後輪
１２０　　：ゴムベルト（連結部材） 1: Traveling device 10: Inverted pendulum type vehicle 12: Outer shell 14: Saddle 16: Step 20: Vehicle body 22: Side post 24: Upper beam 26: Middle beam 28: Side plate 30: Disc support shaft 32: Drive disc 34: Main wheel 36: Ring member 38: Driven roller 40: Drive roller 42: Traveling drive device 44: Right side electric motor 46: Left side electric motor 48: Reduction device 50: Gear case 52: Output shaft 54: Drive pulley 56: Driven pulley 58: Cog belt 60: tail wheel support arm 62: tail wheel 64: electric motor 66 for tail wheel: gyro sensor 80: control device 81: tilt angle calculation unit 82: angular velocity calculation unit 83: angular acceleration calculation unit 84: center of gravity calculation unit 85: inverted Pendulum system Control part 86: Turn control part 88: Right motor drive circuit 90: Left motor drive circuit 92: Tail wheel motor drive circuit 100: Travel support instrument 102: Frame body 104: Side member 104A: Upper horizontal part 104B: Front post part 104C : Front extension 104D: Rear post 106: Rear cross pipe (rear member)
108: Rear cross pipe (rear member)
110: Upper auxiliary pipe 112: Lower auxiliary pipe 114: Grip 115: Armrest 116: Front wheel 118: Rear wheel 120: Rubber belt (connecting member)

Claims (9)

  1. 　倒立振子制御によって走行する倒立振子型車両の走行を支援する走行支援器具であって、
    　複数の車輪と、
    　前記複数の車輪を取り付けられて自立して走行可能な枠体と、
    　前記枠体を前記倒立振子型車両に連結するフレキシブルな連結部材とを有する走行支援器具。     A travel support device for supporting the traveling of an inverted pendulum type vehicle traveling by inverted pendulum control,
    Multiple wheels,
    A frame that is attached to the plurality of wheels and can run independently; and
    A travel support device having a flexible connecting member that connects the frame body to the inverted pendulum type vehicle.
  2. 　前記連結部材はゴム材によって構成されている請求項１に記載の走行支援器具。 The driving support device according to claim 1, wherein the connecting member is made of a rubber material.
  3. 　前記枠体は、前記倒立振子型車両の左右の側方を前後方向に延在する部分を含む左右のサイド部材と、前記倒立振子型車両の後方を左右方向に存在して前記左右のサイド部材を互いに連結する後部部材とを含む請求項１又は請求項２に記載の走行支援器具。 The frame includes left and right side members that include portions extending in the front-rear direction on the left and right sides of the inverted pendulum type vehicle, and the left and right side members that are located behind the inverted pendulum type vehicle in the left-right direction. The driving | running | working assistance instrument of Claim 1 or Claim 2 containing the rear part which mutually connects.
  4. 　前記連結部材は左右方向に延在して前記左右のサイド部材に係止される部分を含んでいる請求項３に記載の走行支援器具。 The driving support device according to claim 3, wherein the connecting member includes a portion that extends in the left-right direction and is locked to the left and right side members.
  5. 　前記車輪は左右の前輪及び後輪を含み、四輪車をなし、少なくとも左右の前輪は自在キャスタである請求項１～請求項４の何れか一項に記載の走行支援器具。 The driving support device according to any one of claims 1 to 4, wherein the wheels include left and right front wheels and a rear wheel, form a four-wheeled vehicle, and at least the left and right front wheels are free casters.
  6. 　前記倒立振子型車両の最大前後長より長いホイールベースを有する請求項５に記載の走行支援器具。 The driving support device according to claim 5, which has a wheel base longer than a maximum front-rear length of the inverted pendulum type vehicle.
  7. 　前記枠体の左右に各々グリップが設けられている請求項１～請求項６の何れか一項に記載の走行支援器具。 The travel support device according to any one of claims 1 to 6, wherein grips are provided on each of the left and right sides of the frame.
  8. 　前記枠体の左右に各々アームレストが設けられている請求項１～請求項７の何れか一項に記載の走行支援器具。 The travel support device according to any one of claims 1 to 7, wherein armrests are respectively provided on the left and right of the frame.
  9. 　倒立振子制御によって走行する倒立振子型車両と、請求項１～請求項８の何れか一項に記載の走行支援器具とを含む走行装置。 A traveling device including an inverted pendulum type vehicle that travels by inverted pendulum control and the traveling support device according to any one of claims 1 to 8.
PCT/JP2018/015185 2017-05-12 2018-04-11 Travel assistance tool and travel device WO2018207538A1 (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11844734B2 (en) 2018-06-20 2023-12-19 Honda Motor Co., Ltd. Mobile body

Citations (7)

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JPS63168186A (en) * 1986-12-29 1988-07-12 中村　智敏 Monocycle exercise support jig
JP3003486U (en) * 1994-04-25 1994-10-18 共栄機工株式会社 Auxiliary device for unicycle
JP2005271743A (en) * 2004-03-25 2005-10-06 Eiji Adachi Auxiliary wheel for practicing monocycle riding
JP2008074120A (en) * 2006-09-19 2008-04-03 Eiji Adachi Auxiliary vehicle for practicing wheelbarrow riding
JP2011195077A (en) * 2010-03-23 2011-10-06 Eiji Adachi Auxiliary wheel for practicing monocycle riding
JP2013237325A (en) * 2012-05-14 2013-11-28 Honda Motor Co Ltd Inverted pendulum type vehicle
JP2015083412A (en) * 2013-10-25 2015-04-30 本田技研工業株式会社 Inverted pendulum control-type mobile body

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63168186A (en) * 1986-12-29 1988-07-12 中村　智敏 Monocycle exercise support jig
JP3003486U (en) * 1994-04-25 1994-10-18 共栄機工株式会社 Auxiliary device for unicycle
JP2005271743A (en) * 2004-03-25 2005-10-06 Eiji Adachi Auxiliary wheel for practicing monocycle riding
JP2008074120A (en) * 2006-09-19 2008-04-03 Eiji Adachi Auxiliary vehicle for practicing wheelbarrow riding
JP2011195077A (en) * 2010-03-23 2011-10-06 Eiji Adachi Auxiliary wheel for practicing monocycle riding
JP2013237325A (en) * 2012-05-14 2013-11-28 Honda Motor Co Ltd Inverted pendulum type vehicle
JP2015083412A (en) * 2013-10-25 2015-04-30 本田技研工業株式会社 Inverted pendulum control-type mobile body

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