JP7212809B2 - Road self-propelled vehicle - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled vehicle that travels on a roller coaster called a roller coaster (registered trademark) by itself.

Roller coaster rails and other tracks installed in amusement parks and the like are periodically inspected and inspected by human eyes for defects such as scratches, cracks, wear, and paint peeling. The inspection of the roller coaster track is dangerous due to high altitude work, and it takes a long time to inspect not only the upper surface of the rail but also the lower surface and joints of the rail.

In Patent Document 1, a running path equipped with a power supply is provided, in which a roller coaster running path is imaged while traveling in accordance with a control signal from the ground, and the vehicle position and the captured running path image are transmitted wirelessly to a ground receiving unit. Contents relating to a self-propelled vehicle, a travel road inspection method using the self-propelled vehicle, and a travel road inspection system are described.

Patent Document 1: JP 2019-138746 A

However, the structure described in Patent Document 1 has a limited inclination angle that can be climbed due to its structure, so it cannot be used for running paths such as somersaults and screw turns, and it is not easy to install on a roller coaster running path. There is a threat. In addition, since gears are used in the torque transmission path from the motor output shaft to the final load, the driving wheel rotating shaft, a large amount of loss occurs, and problems occur in the torque transmission path, resulting in the driving wheel rotating shaft. There is a problem that there is no recovery means from the roller coaster running path when the roller coaster stops rotating.

The present invention solves the above problems by reviewing the configuration of the device described in Patent Document 1, and self-runs a roller coaster running path including somersaults, screw turns, and curve sections, and becomes unable to self-run on the way. The object is to facilitate recovery in the event of a failure.

In order to solve the above problems, the present invention provides a track self-propelled vehicle that runs on its own on a roller coaster track having left rails and right rails,
a left main frame that runs on the left rail by a left drive unit;
a right main frame that runs on the right rail by a right drive;
It is mounted between the left main frame and the right main frame and has its extension direction as an axis so as to correspond to the twist of the right main frame with respect to the left main frame or the twist of the left main frame with respect to the right main frame. A rotatable connection frame as
a posture detection unit that detects position information according to the distance between the vehicle traveling on the traveling path and the roller coaster traveling path;
Based on the position information detected by the posture detection unit, the left driving unit and the right driving unit are controlled so that the traveling direction of the vehicle traveling on the traveling path and the traveling direction of the roller coaster traveling path are kept parallel. and an attitude control unit for
The posture detection unit detects position information according to the distance between the left main frame and the left rail and position information according to the distance between the right main frame and the right rail. It is intended to provide a vehicle that travels on its own on a road.

With this configuration, it is possible to detect the deviation between the traveling direction of the vehicle traveling on the road by itself and the traveling direction of the roller coaster traveling road, and the vehicle can travel on the road by itself regardless of its posture during travel. By controlling the left drive unit and the right drive unit of the vehicle, it is possible to keep the positional relationship between the traveling direction of the self-propelled vehicle and the traveling direction of the roller coaster traveling route parallel to each other. You can run the roller coaster road including the section by yourself.

A self-propelled vehicle on a road, wherein the posture detection unit is provided on both the left main frame and the right main frame,
the posture detection unit in the left main frame detects position information according to the distance between the left main frame and the left rail;
The posture detection unit in the right main frame may be configured to detect position information according to the distance between the right main frame and the right rail.

With this configuration, it is possible to detect positional information according to the distance between the left rail and the left main frame, and between the right rail and the right main frame. It can be self-propelled.

In the self-propelled vehicle on a road, the posture control unit is configured to provide position information according to the distance between the left main frame and the left rail, and position information according to the distance between the right main frame and the right rail. The left driving unit and the right driving unit may be controlled based on the obtained position information so that the traveling direction of the self-propelled vehicle and the traveling direction of the roller coaster traveling path are kept parallel.

With this configuration, the positional relationship between the direction of travel of the self-propelled vehicle and the direction of travel of the roller coaster travel path can be kept parallel, and the roller coaster travel path including somersaults, screw turns, and curve sections can be stably run. It can be self-propelled.

In the self-propelled vehicle on a road, the posture detection unit in the left main frame includes a left side training wheel arm rotatable about a left side training wheel arm rotation axis, and the left side training wheel One side of the arm has a left side training wheel biased to press against the left rail, and the other side has a left distance measuring plate that reflects light, and the left distance measuring plate irradiating light to measure the distance to the left distance measuring plate, and detecting position information according to the distance between the left main frame and the left rail;
The posture detection unit in the right main frame includes a right side training wheel arm rotatable about a rotation axis of the right side training wheel arm. It has a right side training wheel biased to press and a right distance measuring plate that reflects light to the other side, and irradiates the right distance measuring plate with light to The position information may be detected according to the distance between the right main frame and the right rail by measuring the distance to the distance measuring plate.

With this configuration, it is possible to obtain accurate positional information of the self-propelled vehicle on the roller coaster track without being affected by fine irregularities due to paint peeling or rust on the left and right rails, and somersaults and screw turns. , It is possible to stably self-run a roller coaster running road including a curve section.

In the self-propelled vehicle on a road, the posture detection unit in the left main frame includes a left side training wheel arm rotatable about a left side training wheel arm rotation axis, and the left side training wheel A left side training wheel is provided on one side of the arm and biased to press the left rail, and the left side main frame and the Detecting position information according to the distance from the left rail,
The posture detection unit in the right main frame includes a right side training wheel arm rotatable about a rotation axis of the right side training wheel arm, and the right rail is attached to one side of the right side training wheel arm. It has a right side training wheel that is urged to press, and detects the rotation angle of the right side training wheel arm rotation axis, thereby adjusting the distance between the right main frame and the right rail. It may be configured to detect position information.

With this configuration, it is possible to obtain accurate positional information of the self-propelled vehicle on the roller coaster track without being affected by fine irregularities due to paint peeling or rust on the left and right rails, and somersaults and screw turns. , It is possible to stably self-run a roller coaster running road including a curve section.

A self-propelled vehicle on a road, wherein the connecting frame comprises a left connecting frame fixed to the left main frame and a right connecting frame fixed to the right main frame,
At least one of the left connecting frame and the right connecting frame may be configured to be rotatable with respect to the other and may be detachable.

With this configuration, the vehicle itself can be twisted in the curve section and the screw turn section of the roller coaster course, and the roller coaster course including somersaults, screw turns, and curve sections can be stably self-propelled. be able to.
At least one of the left connecting frame and the right connecting frame is detachable from the other, thereby facilitating installation and removal of the self-propelled vehicle on the roller coaster track.

In the self-propelled vehicle, the left driving section presses the left rail with a left upper driving section and a left lower driving section, and the right driving section includes a right upper driving section and a right lower driving section. Press the right rail with
The pressing of the left rail by the left driving unit and the pressing of the right rail by the right driving unit can be released by an instruction from the outside.

With this configuration, without prior work such as rails and overhead wires, even at a high altitude, the pressure on the rails of the left driving wheel and the right driving wheel is released, and the running path becomes impossible to run on the way. Recovery of self-propelled vehicles can be facilitated.

The vehicle may be a self-traveling vehicle on the travel path, and may include an uneven distribution prevention mechanism that prevents the vehicle from being too biased to either the left or right side of the roller coaster travel path.

With this configuration, for example, even when the self-propelled vehicle rolls along the roller coaster travel path, the self-propelled vehicle can travel safely without interfering with the rails.

With the self-propelled vehicle of the present invention, it is possible to reliably and stably self-travel a roller coaster travel path including somersaults, screw turns, and curve sections, and it is easy to recover when self-propulsion becomes impossible on the way. can be

1 is a front view of a self-propelled vehicle on a road according to Embodiment 1 of the present invention; FIG. It is the figure which looked at the road self-propelled vehicle in Example 1 of this invention from the right side. FIG. 1 is a view of the self-propelled vehicle in Embodiment 1 of the present invention viewed from the right side, with the upper and lower drive units omitted. It is the figure which looked at the right side main frame of the road self-propelled vehicle in Example 1 of the present invention from the upper part. FIG. 2 is a cross-sectional view taken along the line AA of the right main frame of the self-propelled vehicle according to the first embodiment of the present invention; FIG. 2 is a block diagram relating to power supply of the vehicle that travels on its own on a road according to Embodiment 1 of the present invention; FIG. 3 is a block diagram relating to control of the vehicle that travels on a road by itself according to the first embodiment of the present invention; FIG. 4 is an isometric view showing a somersault section of a roller coaster track; FIG. 4 is an isometric view showing a screw turn section of a roller coaster track; Fig. 2 is an isometric view showing a curved section of a roller coaster track; It is the figure which looked at the road self-propelled vehicle in Example 2 of this invention from the front. It is the figure which looked at the road self-propelled vehicle in Example 2 of this invention from the right side. FIG. 4 is a first diagram illustrating an orientation detection unit according to Example 1 of the present invention; FIG. 11 is a second diagram illustrating the posture detection unit in Example 1 of the present invention; It is a figure explaining control of the posture control part in Example 1 of this invention.

Embodiment 1 of the present invention will be described with reference to FIGS. 1 to 10 and 13 to 15. FIG. FIG. 1 is a diagram of a road self-propelled vehicle in Embodiment 1 of the present invention as viewed from the front on a road. FIG. 2 is a view of the vehicle traveling on a road by itself according to the first embodiment of the present invention, viewed from the right side. FIG. 3 is a view of the road self-propelled vehicle according to the first embodiment of the present invention as seen from the right side, with the upper and lower drive units omitted. FIG. 4 is a top view of the right main frame of the self-propelled vehicle according to the first embodiment of the present invention. FIG. 5 is a cross-sectional view of the right main frame of the road self-propelled vehicle in Embodiment 1 of the present invention. FIG. 6 is a block diagram relating to power supply of the vehicle traveling on the road according to the first embodiment of the present invention. FIG. 7 is a block diagram relating to the control of the road self-propelled vehicle according to the first embodiment of the present invention. FIG. 8 is an isometric view showing a somersault section of a roller coaster track. FIG. 9 is an isometric view showing a screw turn section of a roller coaster track. FIG. 10 is an isometric view showing a curved section of a roller coaster track. FIG. 13 is a first diagram for explaining the orientation detection unit according to the first embodiment of the present invention; FIG. 14 is a second diagram for explaining the orientation detection unit according to the first embodiment of the present invention; 15A and 15B are diagrams for explaining the control of the attitude control unit according to the first embodiment of the present invention. FIG.

1 and 2 show the structure of a self-propelled vehicle 100 according to the first embodiment. A roller coaster track 101 supported by a structure from the ground has a rail support portion 102, and a left rail 101L and a right rail 101R supported by the rail support portion 102. In the self-propelled vehicle 100, the left rail 101L is sandwiched between the left upper drive section 11 and the left lower drive section 12, and the right rail 101R is sandwiched between the right upper drive section 21 and the right lower drive section 22. Support. The left upper driving part 11 and the left lower driving part 12 are mounted on the left main frame 13, and the right upper driving part 21 and the right lower driving part 22 are mounted on the right main frame 23, respectively. A drive wheel 53 (see FIG. 5) whose rotation is controlled can rotate to run and stop. The left main frame 13 and the right main frame 23 are connected by the left connecting frame 14 , the right connecting frame 15 and the connecting shaft 16 .
In the present application, the left drive wheel 53 is also referred to as the left drive wheel, and the right drive wheel 53 is also referred to as the right drive wheel.
The left upper driving section 11 and the left lower driving section 12 are collectively referred to as a left driving section, and the right upper driving section 21 and the right lower driving section 22 are collectively referred to as a right driving section.
Furthermore, the left connecting frame 14, the right connecting frame 15, and the connecting shaft 16 are collectively called a connecting frame.
In the first embodiment, the left drive section includes the left upper drive section 11 and the left lower drive section 12, and the right drive section includes the right upper drive section 21 and the right lower drive section 22. , is not necessarily limited to this, and can be changed as appropriate. For example, when traveling on a roller coaster running path that does not have sections such as somersaults, the left drive section may include only the left upper drive section, and the right drive section may include only the right upper drive section.

The left main frame 13 and the right main frame 23 each have a drive wheel tension spring mechanism 17 in a direction perpendicular to the left rail 101L and the right rail 101R. The left upper drive section 11 and the left lower drive section 12 of the left main frame 13, and the right upper drive section 21 and the left lower drive section 22 of the right main frame 23, are brought closer to each other by the drive wheel tension spring mechanism 17. is urged in the direction to

Thus, in the left main frame 13, the left upper drive section 11 and the left lower drive section 12 form the left rail 101L, and in the right main frame 23, the right upper drive section 21 and the right lower drive section 22 form the right rail 101R. are pressed from opposite directions, there is no rattling even when the vehicle 100 is upside down on the roller coaster running path 101 and the left or right side faces upward. It is possible to keep the position information of the roller coaster running path firmly and make the vehicle run on its own power, and it is possible to maintain a stopped state when not running.

In addition, in the first embodiment, the holding force of the left upper drive section 11 and the left lower drive section 12 with respect to the left rail 101L and the right upper drive section 21 and the right lower drive section 22 with respect to the right rail 101R at the time of stopping is improved. For this reason, the material of the driving wheels 53 forming the outer peripheral portions of the left upper driving portion 11, the left lower driving portion 12, the right upper driving portion 21, and the right lower driving portion 22 is selected from the magnitude of the frictional force. I choose rubber. As a result, in addition to the pressure applied to the left rail 101L and the right rail 101R by the drive wheel tension spring mechanism 17, the frictional force of the rubber can be used to maintain the stopped state at the time of stopping.

Each of the left main frame 13 and the right main frame 23 is provided with four upper and lower auxiliary wheels 19, two each in front and two rear in the traveling direction of the self-propelled vehicle 100, so as to sandwich the left rail and the right rail from above and below. Then, the two upper and lower auxiliary wheels 19 are biased toward each other by the upper and lower auxiliary wheel tension spring mechanism 20 .

In this way, in the left main frame 13 and the right main frame 23, two upper and lower auxiliary wheels 19 are provided at the front and the rear in the traveling direction of the self-propelled vehicle 100 on the left rail 101L and the right rail 101R. By pressing them respectively, even when the roller coaster running path 101 faces upward, the position information with respect to the roller coaster running path can be firmly maintained without rattling to allow the vehicle to run on the running path by itself.
Further, as will be described later, when the pressure of the left upper drive section 11 and the left lower drive section 12 on the left rail 101L is released, the pressure on the right rail 101R of the right upper drive section 21 and the right lower drive section 22 is released. The upper and lower auxiliary wheels 19 allow the self-propelled vehicle 100 to slide along the left rail 101L and the right rail 101R.

The left main frame 13 and the right main frame 23 are provided with side auxiliary wheels 24 having rotation axes perpendicular to the rotation axes of the left drive section and the right drive section, respectively, in front and rear directions in the traveling direction of the self-propelled vehicle 100 on the road. One each between the left rail 101L and the left main frame 13, and between the right rail 101R and the right main frame 23, a total of four. 24 is biased toward the left rail 101L, and the right side training wheel 24 is biased toward the right rail 101R.

In this way, in the left main frame 13 and the right main frame 23, one side auxiliary wheel 24 is pressed against each rail at the front and rear in the traveling direction of the machine body, so that the roller coaster can travel. To allow a self-propelled vehicle to travel on a traveling road while firmly maintaining position information with respect to a roller coaster traveling road without rattling even if the road is a curved section.
In addition, as will be described later, the posture detection unit 75 including the side auxiliary wheels 24 detects position information corresponding to the distance between the traveling direction of the traveling road self-propelled vehicle 100 and the traveling direction of the roller coaster traveling road 101. be able to.

Near the center of the left main frame 13, there is a center auxiliary wheel 26 having a rotation axis perpendicular to the left rail 101L, and near the center of the right main frame 23, it rotates perpendicular to the right rail 101R. It has a central auxiliary wheel 26 with an axle. As the self-propelled vehicle 100 runs on its own power, the central auxiliary wheels 26 roll sideways along the roller coaster travel path 101, for example, and are biased by gravity in the direction of the left rail 101L or the right rail 101R by a certain amount or more. In this case, it is configured to slide in contact with the left rail 101L or the right rail 101R. That is, the center auxiliary wheel 26 has a function as an uneven distribution prevention mechanism that prevents the vehicle 100 from being excessively biased to either the left or right side of the roller coaster track 101 due to gravity.
In place of the central auxiliary wheel 26, a metal piece, a metal rod, or the like that can prevent uneven distribution can be employed as an uneven distribution prevention mechanism.

As a result, the left main frame 13 and the left rail 101L and the right main frame 13 and the left rail 101L can be in any position while the vehicle 100 is traveling on the roller coaster road including the screw turn section. The distance between the frame 23 and the right rail 101R is restricted to a certain value or more. That is, it is possible to prevent interference between the traveling road self-propelled vehicle 100 and the left rail 101L and the right rail 101R.

The left joint frame 14 is fixed to the left main frame 13, and the right joint frame 15 is fixed to the right main frame 23 by bolting, respectively. is assembled in

With this configuration, it is possible to continue running smoothly even in the screw turn section. That is, when the roller coaster running path 101 reaches a screw turn section, one rail is slightly angled in the vertical direction with respect to the other rail. Since the left connecting frame 14 and the right connecting frame 15 are rotatable about the connecting shaft 16, the self-propelled vehicle 100 itself is twisted corresponding to this angle and can smoothly continue self-propelled. . In addition, the left connecting frame 14 and the right connecting frame 15 are fixed to the left main frame 13 and the right main frame 23 by bolting, respectively. This is convenient when installing or removing the vehicle 100 on the roller coaster running path. For example, when installing, after installing one of the left main frame 13 or the right main frame 23 on the left rail 101L or the right rail 101R, and then installing the other on the left rail 101L or the right rail 101R, the installation can be done manually. possible, and there is no need to use heavy machinery. One of the left main frame 13 and the right main frame 23 may be fixed to the left connecting frame 14 or the right connecting frame 15 by bolting, and the other may be fixed inseparably.

The left main frame 13 and the right main frame 23 each have a recovery mechanism 18 . Both of the left and right recovery mechanisms 18 receive signals from the outside to press the left upper drive section 11 and the left lower drive section 22 against the left rail 101L by the left drive wheel tension spring mechanism 17, and to press the left drive wheel. The tension spring mechanism 17 is configured to release the pressure of the right upper driving portion 21 and the right lower driving portion 22 onto the right rail 101R.

Due to this configuration, any one or all of the left upper drive section 11, the left lower drive section 12, the right upper drive section 21, and the right lower drive section 22 may fail due to a mechanical or motor control circuit failure. When it becomes inoperable, either or both of the left and right recovery mechanisms 18 are activated by a signal from the outside, so that the left upper driving unit 11 and the left lower driving unit 12 can move to the left rail 101L and to the right rail. The pressure applied to the right rail 101R by the upper drive section 21 and the right lower drive section 22 can be released.

Furthermore, even if the collection mechanism 18 is operated, the left rail 101L is pressed by the left upper and lower auxiliary wheels 19 and the right rail 101R is pressed by the right upper and lower auxiliary wheels 19, so that the self-propelled vehicle 100 leaves the roller coaster road 101. It can be free-sliding without a lift and can be returned to a lower altitude position or platform section where it can be recovered.
In other words, when free sliding is started in the first slope section of the roller coaster track 101, it is possible to return to the platform section of the starting point, but when free sliding is started from a high position other than the first slope section, It can be returned to any recoverable low altitude position.

The right connecting frame 15 has a power supply unit 61 to supply power to the left upper driving unit 11 , the left lower driving unit 12 , the right upper driving unit 21 and the right lower driving unit 22 .

The left main frame 13 and the right main frame 23 each have a recovery mechanism power supply unit 66 that supplies power to the recovery mechanism 18 and a recovery mechanism control unit 73 that transmits control signals to the recovery mechanism 18 .

The right main frame 23 has a right front range sensor 27 and a right rear range sensor 28 (see FIG. 4), and the left main frame 13 has a left front range sensor 29 (not shown) and a left rear range sensor 30 (see FIG. 4). not shown), respectively.
The right front range sensor 27, the right rear range sensor 28, the left front range sensor 29, and the left rear range sensor 30 are configured to detect the left main frame based on the position of the side training wheel 24, as will be described later in detail. 13 and the left rail 101L, and position information corresponding to the distance between the right main frame 23 and the right rail 101R.

Between the left rail 101L and the left main frame 13 grasped by the attitude detection units 75 of the right front range sensor 27, the right rear range sensor 28, the left front range sensor 29, and the left rear range sensor 30. and the position information according to the distance between the right rail 101R and the right main frame 23, and in consideration of the control signal received from the ground (external), the left and right main frames The attitude control section 74 appropriately controls the four drive sections (left drive section and right drive section).

In the first embodiment, the rail receiving portion 102 has a substantially recessed shape, but it is not necessarily limited to this. An optimum shape can be appropriately adopted according to convenience.

The drive wheel tension spring mechanism 17, the recovery mechanism 18, the side auxiliary wheel tension spring mechanism 25, the right connecting frame 15 and the right main frame 23 of the road self-propelled vehicle 100 according to the first embodiment of the present invention, is shown in FIGS. 3 and 4. FIG. 3 is a right side view of the self-propelled vehicle 100 similar to FIG. 2, but the right upper driving section 21 and the right lower driving section 22 are omitted.

The right upper driving portion 21 and the right lower driving portion 22 are fixed to upper and lower driving portion mounting bases 32 attached to separate direct-acting parts 31, respectively, and are configured to move freely up and down (FIGS. 4 and 5). See Figure 5).
Further, the upper and lower drive unit mounting bases 32 are mounted so as to be biased toward each other by a drive wheel tension spring 33 .
This configuration is the same for the left main frame. This is the drive wheel tension spring mechanism that presses the upper and lower drive units against the left and right rails in the left and right main frames.

The recovery mechanism motor 35 is configured to be driven by an external signal. When the recovery mechanism motor 35 is driven, the ball screw 34 rotates, and the nut portion of the ball screw 34 moves vertically with respect to the linear motion component 31 . The nut portion of the ball screw 34 has upper and lower cam followers 36, and the upper and lower cam followers 36 slide in contact with upper and lower inclined plates 37 fixed to the upper and lower drive unit mounting bases 32 (see FIG. 3).
As a result, the nut portion of the ball screw 34 can spread the space between the upper and lower driving portion mounting bases 32 along the linear motion component 31 .

With this configuration, the drive wheel tension spring mechanism 17 in the right main frame 23 can release the pressure of the right upper drive section 21 and the right lower drive section 22 onto the right rail 101R.
This configuration is the same for the left main frame 13 as well. This is the recovery mechanism for releasing the pressure applied to the left and right rails by the upper and lower drive units in the left and right main frames.

The upper training wheel arm 38 and the lower training wheel arm 39 are attached so as to be rotatable about the upper and lower training wheel arm rotating shaft 40, and have the upper and lower training wheel 19 at their ends. The upper auxiliary wheel 19 and the lower auxiliary wheel 19 are fixed at a position between the farthest ends in the cross section of the right rail 101R (see FIG. 3). Furthermore, the upper and lower training wheel arms 38 and 39 have upper and lower training wheel tension springs 41 .

With this configuration, the upper and lower training wheel arms 38 and 39 are urged toward each other by the upper and lower training wheel tension springs 41, so that the upper and lower training wheels 19 are aligned in the cross section of the right rail 101R. Press between the farthest ends.
This configuration is the same for the left main frame 13 as well. This is the upper and lower auxiliary wheel tension spring mechanism 20 in which the upper and lower auxiliary wheels 19 press the left rail 101L and the right rail 101R so as to sandwich them in the left and right main frames.

When the self-propelled vehicle 100 is caused to travel on its own, the drive wheel tension spring mechanism 17 causes the left upper driving section 11 and the left lower driving section 12 to be attached to the left rail 101L, and the right upper driving section 21 and the right lower driving section 22. to the right rail 101R, respectively.
On the other hand, while the self-propelled vehicle 100 is traveling on its own power, the left upper driving unit 11, the left lower driving unit 12, the right upper driving unit 21, and the right lower driving unit 11, the left lower driving unit 12, the right upper driving unit 21, and the right lower driving unit may malfunction due to a mechanical or motor control circuit failure. 22 and the recovery mechanism 18, the drive wheel tension spring mechanism 17 moves the left upper driving part 11 and the left lower driving part 12 to the left rail 101L, and the right upper part Pressing of the driving portion 21 and the right lower driving portion 22 to the right rail 101R can be released.
Further, when the recovery mechanism 18 is activated, the upper and lower auxiliary wheels 19 are pressed against the left rail 101L and the right rail 101R by the upper and lower auxiliary wheel tension spring mechanism 20, thereby causing the self-propelled vehicle 100 to travel on a roller coaster. It can free-plane without leaving the track 101 and can return to a low altitude position or platform section where it can be recovered.
In other words, if free skating is started on the first slope section of the roller coaster course, it can be returned to the platform section, but if it is allowed to skating from a high altitude other than the first slope section, either recovery will occur. It can be returned to the lowest possible altitude.

In the first embodiment, when the self-propelled vehicle 100 runs on its own power, the left upper drive section 11 and the left lower drive section 12 are arranged on the left rail 101L, the right upper drive section 21 and the right lower drive section 22 are arranged on the right rail 101R, Upper and lower drive unit mounting bases 32 fixed to the upper and lower direct-acting parts 31, respectively, and drive wheel tension springs 33 for biasing the upper and lower drive unit mounting bases 32 in the direction toward each other in order to press them, respectively. and have Further, while the self-propelled vehicle 100 is traveling on its own power, the left upper driving section 11, the left lower driving section 12, the right upper driving section 21, and the right lower driving section 11, 12, 12, 21, 21, 21, 21, 21, 22, 21, 22, etc. 22 or 22 becomes inoperable, the recovery mechanism motor 35 is driven by an external signal, and the cam follower 36 fixed to the nut portion of the ball screw 34 comes into contact with the inclined plate 37. Although the structure is such that the space between the upper and lower drive unit mounting bases 32 is widened by sliding on the upper and lower parts, the structure is not limited to this and can be changed as appropriate.

For example, it does not have the ball screw 34, the recovery mechanism motor 35, the cam follower 36, and the inclined plate 37 related to the operation of the recovery mechanism 18. Instead of being driven by the tension spring 33, a ball screw driven by a small motor may be provided in place of the direct-acting part 31, and the nut portion of the ball screw may be provided with the drive unit mounting base 32.
With this configuration, the driving unit mounting base 32 can be freely moved up and down by driving the small motor, and the pressing state of the vertical driving unit during self-running and the pressing release state during recovery can be freely switched. can be done.

The side training wheel arm 42 is attached so as to be rotatable about a side training wheel arm rotating shaft 43, and has a side training wheel 24 at one end and a distance measuring plate 44 at the other end. . Further, a side training wheel tension spring 45 is provided so as to urge the side training wheel spring post 46 and the side training wheel arm 42 fixed to the right main frame 23 toward each other.
Further, the right main frame 23 has a right front range sensor 27 and a right rear range sensor 28, which are optical sensors, and light (infrared rays) emitted from the right front range sensor 27 and the right rear range sensor 28. is provided so as to be reflected by the distance measuring plate 44 .
This configuration is the same for the left main frame 13 as well.

With this configuration, the side training wheel arm 42 can be rotated about the side training wheel arm rotating shaft 43 by the side training wheel tension spring 45, and the right side training wheel 24 can be pressed against the right rail 101R. Then, the distance between the right front distance measuring sensor 27 (or the right rear distance measuring sensor 28) and the distance measuring plate 44 indicating the displacement of the position of the side auxiliary wheel 24 according to the distance between the right main frame 23 and the right rail 101R is measured. ), position information corresponding to the distance between the right main frame 23 and the right rail 101R can be obtained.
That is, position information corresponding to the distance from the right rail 101R on the right front is obtained from the measurement value of the right front distance measuring sensor 27, and position information corresponding to the distance from the right rail 101R on the right rear is obtained from the right rear distance measuring sensor 28. Obtainable.
This configuration is the same for the left main frame 13, and the position information according to the distance from the left rail 101L at the left front is converted from the measurement value of the left front distance measuring sensor 29 to the distance from the left rail 101L at the left rear. Corresponding position information can be obtained from the left rear ranging sensor 30 .

A right front connecting bracket 47 and a right rear connecting bracket 48 are attached to the right main frame 23 so as to slide and move in parallel with the right rail 101R. It is fixed by sandwiching between the connecting brackets 48 and fastening the right front connecting bracket 47 and the right rear connecting bracket 48 with the connecting frame fixing bolts and nuts 49 .
This is the structure of the connecting portion of the right connecting frame 15 and the right main frame 23 . This configuration is the same for the left connecting frame 14 and the left main frame 13 as well.

With this configuration, the road self-propelled vehicle 100 can be easily divided into three parts: the left main frame 13, the right main frame 23, the left connecting frame 14, the right connecting frame 15, and the connecting shaft 16. Can be assembled. As a result, it is possible to reduce the burden on workers when installing the self-propelled vehicle 100 on the roller coaster track 101 and when removing it from the roller coaster track 101 .

FIG. 5 shows a cross-sectional view of the right upper drive section 21 and the right lower drive section 22 of the self-propelled vehicle 100 according to the first embodiment of the present invention. A drive unit mounting base 32 is mounted on a linear motion component 31 fixed to the right main frame 23, and a drive unit motor 51 is mounted on a motor case 52 mounted on the drive unit mounting base 32 in such a manner that only the output shaft protrudes. Stored. When the driving part motor 51 is driven, the driving wheel 53 fastened to the output shaft is rotated.
This is the structure in which the drive unit motor 51 is built in the right upper drive unit 11 and the right lower drive unit 12, and a path between the output shaft of the drive unit motor 51, which is the power source, and the drive wheel 53, which is the load, is possible. By making it as short as possible, it contributes to weight reduction of the vehicle 100 traveling on the road by itself. This configuration is the same for the left upper driving section 11 and the left lower driving section 12 in the left main frame 13 .

By providing the driving portion motor 51 with a braking function, the rotation of the output shaft of the driving portion motor 51 can be prevented when the driving portion motor 51 is energized. As a result, even if the self-propelled vehicle 100 stops due to a signal from the outside during self-propelled travel, the vehicle 100 does not slide freely along the travel path and can remain in place.

By adopting a DC brushless motor with a built-in Hall element that emits pulses according to the rotation of the driving unit motor 51, it is possible to control the speed corresponding to the change in the load due to the tilt angle and to measure the rotation speed of the driving wheel 53. A numerical value obtained by multiplying the rotation speed by the circumference of the driving wheel 53 is the traveling distance of the vehicle 100 traveling on the traveling road.

FIG. 6 shows a block diagram relating to the power supply of the self-propelled vehicle 100 according to the first embodiment of the present invention. The left upper drive motor 62 is for the left upper drive 11, the left lower drive motor 63 is for the right lower drive 12, the right upper drive motor 64 is for the right upper drive 21, and the right lower drive motor 65 is for the right side. Each of them is built in the lower driving section 22 . The left upper drive motor 62, the left lower drive motor 63, the right upper drive motor 64, and the right lower drive motor 65 are supplied with necessary power from a power supply 61 comprising a battery. The battery of the power supply unit 61 is configured to be charged in advance, and is configured to store a capacity sufficient for at least one round of the roller coaster running path 101 .

The left main frame 13 and the right main frame 23 each have one recovery mechanism power supply unit 66, which consists of a battery for supplying electric power to the recovery mechanism motor 35 of the recovery mechanism 18. 13 and the right main frame 23 each have one. The battery of the recovery mechanism power supply unit 66 is configured to be able to be charged in advance, and is configured to have a capacity enough to activate the recovery mechanism 18 at least once.

In the first embodiment, the power source unit 61 and the recovery mechanism power source unit 66 are configured by batteries, but the configuration is not necessarily limited to this and can be changed as appropriate. For example, power may be supplied to the drive power supply unit 61 or the recovery mechanism power supply unit 66 by contact or non-contact from rails, overhead wires, or the like.

FIG. 7 shows a block diagram relating to the control of the self-propelled vehicle 100 according to the first embodiment of the present invention. Note that wireless transmission of signals is indicated by a dotted line, and wired transmission is indicated by a solid line.
The transmission ground operation unit 71 is composed of a radio signal transmitter, and is configured to be able to wirelessly transmit a control signal to the signal reception calculation unit 72 . The signal reception calculation unit 72 receives control signals from the ground operation unit 71, and controls the left upper driving unit motor 62, the left lower driving unit motor 63, the right upper driving unit motor 64, and the right lower driving unit. are configured to appropriately control the motors 65 and .
In addition, the posture control unit 74 detects the position information according to the distance between the left rail 101L and the left main frame 13 and the distance between the right rail 101R and the right main frame 23, which are grasped by the posture detection unit 75. The control signal from the signal reception calculation unit 72 is added to the corresponding position information, and the left drive unit and the Controls the speed of the right drive.

A control method of the attitude control section 74 will be described with reference to FIGS. 13 to 15. FIG. Side training wheel 24, side training wheel arm 42, side training wheel arm rotating shaft 43, side distance plate 44, right front range sensor 27, side training wheel tension spring 45 (not shown in FIGS. 13 and 14) etc., can obtain position information according to the distance between the right rail 101R and the right main frame 23 on the right front side.

The right side training wheel arm 42 is tilted by the biasing force of the side training wheel tension spring 45 so that the right side training wheel 24 is pressed against the right rail 101R, and is rotated according to the distance to the right rail 101R. The state shown in FIG. 13 shows a state where the side auxiliary wheels 24 are located near the right rail 101R, that is, the state where the self-propelled vehicle 100 is located near the right rail 101R. Conversely, the state shown in FIG. 14 shows a state in which the side auxiliary wheels 24 are far from the right rail 101R, that is, the state in which the self-propelled vehicle 100 is far from the right rail 101R.

The light (infrared rays) emitted from the right forward distance measuring sensor 27 is reflected on the surface of the distance measuring plate 44 and returned to the right forward distance measuring sensor 27 . Then, the right forward distance measuring sensor 27 calculates the distance from the right forward distance measuring sensor 27 to the distance measuring plate 44 based on the time difference from the irradiation until the reflection returns. As a result, in the state shown in FIG. 13 (where the side training wheel 24 is located near the right rail 101R), the distance from the right front distance measuring sensor 27 to the distance measuring plate 44 is long, so the reflection returns from the irradiation. The time difference to is large and the long distance is calculated. In the state of FIG. 14 (state in which the side training wheel 24 is far from the right rail 101R), the distance from the right forward distance sensor 27 to the distance measurement plate 44 is short, so the time difference from irradiation to return of reflection is computes small, short distances. In other words, when the distance calculated by the right front distance sensor 27 is long, it indicates that the side auxiliary wheel 24 is close to the right rail 101R, and when the distance calculated by the right front distance sensor 27 is short , the side auxiliary wheel 24 is located far from the right rail 101R.

That is, position information corresponding to the distance between the vehicle 100 traveling on the road and the right rail 101R can be obtained by the posture detection unit 75 in the right main frame 23 . The left main frame 13 also has a posture detection unit 75, and can detect position information according to the distance between the vehicle 100 traveling on the road and the left rail 101L.

Next, the attitude control method of the road self-propelled vehicle 100 based on the position information according to the distance between the road road self-propelled vehicle 100 and the right rail 101R and the left rail 101L will be described. In FIG. 15, a is the positional information corresponding to the distance between the vehicle 100 traveling on the road and the right rail 101R in front of the right side obtained by the right front distance measuring sensor 27, and the position information is obtained by the right rear distance measuring sensor 28. The positional information corresponding to the distance between the vehicle 100 traveling on the road and the right rail 101R on the rear right side is b, and the information on the distance between the vehicle 100 traveling on the road and the left rail 101L on the left front obtained by the left front distance measuring sensor 29. Let c be the position information corresponding to the distance between them, and let d be the position information corresponding to the distance between the road self-propelled vehicle 100 obtained by the left rear distance measuring sensor 30 and the left rail 101L on the left rear.
The attitude control unit 74 controls the driving speeds of the left upper driving unit 11, the left lower driving unit 12, the right upper driving unit 21, and the right lower driving unit 22 so that the value X expressed by the following equation 1 is minimized. to adjust. As a result, it is possible to control the direction of travel of the self-propelled vehicle 100 and the direction of travel of the right rail 101R and the left rail 101L so that they are parallel to each other. can be controlled.

X = {(a-b) + (c-d)}/2 Equation 1

For example, when bias toward the left rail in the forward direction of travel is detected based on the measured values of the right front range sensor 27, the right rear range sensor 28, the left front range sensor 29, and the left rear range sensor 30. , the rotational speed of the left upper drive motor 62 and the left lower drive motor 63 in the left main frame 13 is faster than the rotational speed of the right upper drive motor 64 and the right lower drive motor 65 in the right main frame 23. By controlling so as to be such that the bias with respect to the left rail 101L and the right rail 101R can be restored.

In this way, the distance between the left rail 101L and the left main frame 13 is grasped by the right front range sensor 27, the right rear range sensor 28, the left front range sensor 29, and the left rear range sensor 30. Based on the position information corresponding to the distance between the right rail 101R and the right main frame 23, the posture control unit 74 controls the left upper drive motor 62 and the left lower drive motor 63, the right upper drive motor 64, and the right lower drive motor 65 are appropriately controlled, so that the roller coaster can run smoothly even in the curve section of the roller coaster running path 101.
In the curve section of the roller coaster track (see FIG. 10), the track on the outside of the curve is longer than the track on the inside. If the motor 51 runs on the right curve at the same speed, the left main frame 13 running on the outer rail of the curve lags behind the right main frame 23 running on the inner rail. This means that even in a left curve, the position information of the left main frame 13 and the right main frame 23 is reversed, and the side running on the rail on the outside of the curve does not fall behind the side running on the rail on the inside of the curve. are identical.
Therefore, as described above, the attitude control unit 74 sends an appropriate control signal to the driving unit motor 51 based on the position information obtained by the distance measuring sensors 27 to 30, so that the side traveling on the rail outside the curve and the curve It is possible to smoothly run in the curve section by adjusting the divergence of the position information between the sides running inside.

As shown in FIG. 7(b), the ground operation unit 71 is configured to be able to wirelessly transmit a control signal to the recovery mechanism control unit 73 that each of the left main frame 13 and the right main frame 23 has. Further, the recovery mechanism control section 73 is configured to receive a control signal from the ground operation section 71 and control the recovery mechanism motors 35 provided in the left main frame 13 and the right main frame 23, respectively.

In the first embodiment, the control signal from the ground operation unit 71 is wirelessly transmitted to the signal reception calculation unit 72 and the recovery mechanism control unit 73, but it is not necessarily limited to this and can be changed as appropriate. is. For example, the signal may be transmitted to the signal reception calculation unit 72 or the recovery mechanism control unit 73 by wire from a rail, an overhead wire, or the like.

In addition, in the first embodiment, the position information corresponding to the distance between the vehicle 100 traveling on the road and the roller coaster traveling road 101 is obtained from the values obtained by the distance measuring sensors 27 to 30, but this is not necessarily the case. is not limited to , and can be changed as appropriate. For example, a rotation sensor is provided on the side auxiliary wheel arm rotating shaft 43, and position information corresponding to the distance between the traveling road self-propelled vehicle 100 and the roller coaster traveling path 101 is obtained from the value of the rotation angle detected by this rotation sensor. may

Furthermore, in the first embodiment, the position information corresponding to the distance between the vehicle 100 traveling on the road and the roller coaster road 101 is obtained at two locations on the left side and the right side, respectively. It is not limited and can be changed as appropriate. For example, position information corresponding to the distance between the self-traveling vehicle 100 and the roller coaster running path 101 at three or more locations on the left and right sides may be obtained, or one location on the left and right sides may be obtained. Position information may be obtained according to the distance between the vehicle 100 traveling on the road and the roller coaster road 101 at the location.

As described above, in Example 1, the vehicle is a traveling road self-propelled vehicle that travels on its own on a roller coaster traveling road having a left rail and a right rail,
a left main frame that runs on the left rail by a left drive unit;
a right main frame that runs on the right rail by a right drive;
a connecting frame attached between the left main frame and the right main frame;
a posture detection unit that detects position information according to the distance between the vehicle traveling on the traveling path and the roller coaster traveling path;
and a posture control unit that controls the left drive unit and the right drive unit based on the position information detected by the posture detection unit. It is possible to detect the deviation between the traveling direction of the vehicle and the traveling direction of the roller coaster road, and the left drive unit and the right drive of the road self-propelled vehicle regardless of the attitude of the road self-propelled vehicle. You can control the part, and you can self-run the roller coaster track including somersaults, screw turns, and curve sections.

The second embodiment differs from the first embodiment in that the left rail 101L and the right rail 101R are supported from the inside by a rail support portion 102. FIG. A second embodiment of the present invention will be described with reference to FIGS. 11 and 12. FIG. FIG. 11 is a view of the road self-propelled vehicle 200 according to Embodiment 2 of the present invention as viewed from the front on the road. FIG. 12 is a view of the road self-propelled vehicle 200 according to the second embodiment of the present invention as viewed from the right side. A roller coaster running path 101 supported by a structure from the ground has the rail support portion 102 and the right rail 101L and the right rail 101R supported by the rail support portion 102 .

11 and 12 show the structure of the connecting portion between the right connecting frame 15 and the right main frame 23 of the vehicle 200 that travels on its own on the road according to the second embodiment. A right front connecting bracket 47, a right rear connecting bracket 48, and a right side connecting bracket 50 are fixed to the right main frame 23 and sandwich the right connecting frame 15 so that the right front connecting bracket 47 and the right rear connecting bracket 47 are fixed. The right connecting frame 15 is firmly fixed by fastening the connecting bracket 48 with a connecting frame fixing bolt nut 49 .
This structure also applies to the fixing method of the left main frame 13 and the left connecting frame 14 .

With this configuration, the road self-propelled vehicle 200 can be easily divided into the left main frame 13, the right main frame 23, the left connecting frame 14, the right connecting frame 15, and the connecting shaft 16. Can be assembled. As a result, it is possible to reduce the burden on the worker when installing the self-propelled vehicle 200 on the roller coaster track 101 and when removing it from the roller coaster track 101 .

In the second embodiment, the rail support portion 102 has a substantially Y shape, but the shape is not necessarily limited to this, and the left rail 101L and the right rail 101R are supported from the inside by the rail support portion 102. As far as the shape is concerned, an optimum shape can be appropriately adopted according to convenience. For example, it may have a substantially T shape, or may have another shape.

As described above, in Example 2 as well, the vehicle is a self-traveling vehicle that travels on its own on a roller coaster traveling path having a left rail and a right rail,
a left main frame that runs on the left rail by a left drive unit;
a right main frame that runs on the right rail by a right drive;
a connecting frame attached between the left main frame and the right main frame;
a posture detection unit that detects position information according to the distance between the vehicle traveling on the traveling path and the roller coaster traveling path;
and a posture control unit that controls the left drive unit and the right drive unit based on the position information detected by the posture detection unit. It is possible to detect the deviation between the traveling direction of the vehicle and the traveling direction of the roller coaster road, and the left drive unit and the right drive of the road self-propelled vehicle regardless of the attitude of the road self-propelled vehicle. You can control the part, and you can self-run the roller coaster track including somersaults, screw turns, and curve sections.

The road self-propelled vehicle of the present invention can be widely used in the field of maintenance of roller coaster roads such as amusement parks, as it is compatible with roller coaster roads including somersaults and screw turns. For example, if an imaging unit or the like is added to the present invention, it can be used for inspection by capturing an image of the roller coaster running path while running. Similarly, it can be expected to be applied to repair and painting work.

11: Left upper driving part 12: Left lower driving part
13: left main frame
14: Left connecting frame 15: Right connecting frame
16: Connecting shaft 17: Drive wheel tension spring mechanism
18: Collection mechanism 19: Upper and lower auxiliary wheels
20: Upper and lower auxiliary wheel tension spring mechanism 21: Right upper drive unit
22: Right lower drive unit
23: Right main frame 24: Side training wheel
25: Side auxiliary wheel tension spring mechanism
26: Center auxiliary wheel 27: Right front range sensor
28: Right rear range sensor 29: Left front range sensor
30: Left rear distance measuring sensor 31: Linear motion parts
32: Drive unit mounting base 33: Drive wheel extension spring
34: ball screw
35: Recovery mechanism motor 36: Cam follower 37: Inclined plate
38: Upper training wheel arm 39: Lower training wheel arm
40: Upper and lower auxiliary wheel arm rotation axis
41: Upper and lower training wheel tension spring 42: Side training wheel arm
43: Side auxiliary wheel arm rotating shaft 44: Distance measuring plate
45: Side auxiliary wheel tension spring
46: Side auxiliary wheel spring post 47: Right front connecting bracket
48: Right rear connecting bracket 49: Bolt nut for fixing connecting frame
50: right side connecting bracket 51: drive unit motor
52: Motor case
53: Drive wheel 61: Power supply unit 62: Left upper drive unit motor
63: Left lower drive motor 64: Right upper drive motor
65: Right lower drive unit motor 66: Power supply unit for recovery mechanism
71: Ground control unit
72: Signal reception calculation unit 73: Recovery mechanism control unit
74: Posture control unit 75: Posture detection unit
100: Traveling route Self-propelled vehicle 101: Roller coaster traveling route
101L: Left rail 101R: Right rail
102: Rail receiving part
200: Traveling road self-driving vehicle

Claims (8)

A track self-propelled vehicle that runs on its own on a roller coaster track having a left rail and a right rail,
a left main frame that runs on the left rail by a left drive unit;
a right main frame that runs on the right rail by a right drive;
It is mounted between the left main frame and the right main frame and has its extension direction as an axis so as to correspond to the twist of the right main frame with respect to the left main frame or the twist of the left main frame with respect to the right main frame. A rotatable connection frame as
a posture detection unit that detects position information according to the distance between the vehicle traveling on the traveling path and the roller coaster traveling path;
Based on the position information detected by the posture detection unit, the left driving unit and the right driving unit are controlled so that the traveling direction of the vehicle traveling on the traveling path and the traveling direction of the roller coaster traveling path are kept parallel. and an attitude control unit for
The posture detection unit detects position information according to the distance between the left main frame and the left rail and position information according to the distance between the right main frame and the right rail. A vehicle that runs on its own power. The posture detection unit is provided in both the left main frame and the right main frame,
the posture detection unit in the left main frame detects position information according to the distance between the left main frame and the left rail;
2. The road self-propelled vehicle according to claim 1, wherein the posture detection unit in the right main frame detects position information according to the distance between the right main frame and the right rail. The posture control unit is configured to control the position of the vehicle on the traveling road based on the position information corresponding to the distance between the left main frame and the left rail and the position information corresponding to the distance between the right main frame and the right rail. 3. The road self-propelled vehicle according to claim 2, wherein the left driving section and the right driving section are controlled so that the traveling direction and the traveling direction of the roller coaster traveling path are kept parallel. The posture detection unit in the left main frame includes a left side training wheel arm rotatable around a left side training wheel arm rotation axis, and a left side training wheel arm is provided on one side of the left side training wheel arm and is attached to the left rail. It has a left side training wheel biased to press and a left distance measuring plate that reflects light to the other side, and irradiates the left distance measuring plate with light to measuring a distance to a distance measuring plate to detect position information according to the distance between the left main frame and the left rail;
The posture detection unit in the right main frame includes a right side training wheel arm rotatable about a rotation axis of the right side training wheel arm. It has a right side training wheel biased to press and a right distance measuring plate that reflects light to the other side, and irradiates the right distance measuring plate with light to 4. The road self-propelled vehicle according to claim 2 or 3, wherein a distance to a distance measuring plate is measured to detect position information according to the distance between the right main frame and the right rail. . The posture detection unit in the left main frame includes a left side training wheel arm rotatable around a left side training wheel arm rotation axis, and the left rail is attached to one side of the left side training wheel arm. It has a left side training wheel that is urged to press, and detects the rotation angle of the left side training wheel arm rotating shaft, thereby adjusting the distance between the left main frame and the left rail. Detect location information,
The posture detection unit in the right main frame includes a right side training wheel arm rotatable about a rotation axis of the right side training wheel arm, and the right rail is attached to one side of the right side training wheel arm. It has a right side training wheel that is urged to press, and detects the rotation angle of the right side training wheel arm rotation axis, thereby adjusting the distance between the right main frame and the right rail. 4. The road self-propelled vehicle according to claim 2, wherein position information is detected. the connecting frame comprises a left connecting frame fixed to the left main frame and a right connecting frame fixed to the right main frame,
6. The travel path according to any one of claims 1 to 5, wherein at least one of the left connecting frame and the right connecting frame is rotatable with respect to the other and is detachable. self-driving vehicle. The left drive section presses the left rail with the left upper drive section and the left lower drive section, and the right drive section presses the right rail with the right upper drive section and the right lower drive section,
The traveling according to any one of claims 1 to 6, wherein the pressing of the left rail by the left driving unit and the pressing of the right rail by the right driving unit can be released by an instruction from the outside. Road self-propelled vehicle. 8. The runway self-powered vehicle according to any one of claims 1 to 7, further comprising an uneven distribution prevention mechanism for preventing the vehicle from being too biased to either the left or right side of the roller coaster runway. running vehicle.

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