WO2018207538A1

WO2018207538A1 - Travel assistance tool and travel device

Info

Publication number: WO2018207538A1
Application number: PCT/JP2018/015185
Authority: WO
Inventors: 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
Priority date: 2017-05-12
Filing date: 2018-04-11
Publication date: 2018-11-15
Also published as: JP2018192843A; JP6739395B2

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

Travel support apparatus and travel device

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.

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).

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.

Japanese Patent No. 5426682 JP 2013-237327 A

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.

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 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

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.

In the travel support device, preferably, the connecting member (120) is made of a rubber material.

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.

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.

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.

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).

According to this configuration, the driving support device (100) is connected to the inverted pendulum type vehicle (10) with a simple structure.

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.

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).

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.

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.

In the above-described travel support device, grips (114) are preferably provided on the left and right sides of the frame (102).

According to this configuration, by gripping the grip (114), the riding posture is stabilized and the sense of security is increased.

In the travel support device, preferably, armrests (115) are respectively provided on the left and right sides of the frame (102).

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.

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.

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.

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.

The perspective view which shows one Embodiment of the traveling apparatus containing the driving assistance apparatus by this invention. 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. The perspective view which shows other embodiment of the traveling apparatus containing the driving assistance apparatus by this invention.

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.

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. 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.

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.

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.

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.

Next, the operation of the inverted pendulum type vehicle 10 configured as described above will be described.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

Therefore, in this embodiment, the same effect as that of the above-described embodiment can be obtained.

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.

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.

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.

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.

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.

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.

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: 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

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.
The driving support device according to claim 1, wherein the connecting member is made of a rubber material.
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.
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.
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.
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.
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.
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.
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.