WO2017085199A1

WO2017085199A1 - Vehicle comprising an operator control unit

Info

Publication number: WO2017085199A1
Application number: PCT/EP2016/078029
Authority: WO
Inventors: Ulrich Riexinger
Original assignee: Maurer, Armin; Maurer, Cornelia; BERNHARD, Uwe
Priority date: 2015-11-17
Filing date: 2016-11-17
Publication date: 2017-05-26
Also published as: DE102015222687A1

Abstract

The present invention relates to a dynamically stabilized vehicle (1) comprising: a chassis (2); two wheels (3) mounted on the chassis (2) so that they can rotate about a wheel rotational axis (5); a drive system (6) that is drivably coupled to the wheels (3); and a vehicle control system (8) for controlling the drive system (6), said vehicle control system having an activatable and deactivatable stabilizing mode. To simplify the conversion of a vehicle designed for a person in a standing position into a vehicle (1) designed for a person in a seated position: the vehicle control system (8) has an interface (20) to which an occupancy detection system (21) can be connected, the vehicle control system (8) only activating the stabilizing mode when an occupancy signal, indicating that the vehicle (1) is occupied by a person, is received via the relevant interface (20); and an operator control unit (25) having at least one manually actuatable operator control element (27) is provided, said operator control unit being connected to at least one such interface (20) and generating the occupancy signal and supplying said signal to the relevant interface (20) when the at least one operator control element (27) is actuated.

Description

Vehicle with operating unit

The present invention relates to a dynamically balancing vehicle having the features of the preamble of claim 1. The invention also relates to a control unit suitable for this purpose.

Generic vehicles are known, for example, from WO 201 1/106767 A2, from US Pat. No. 7,740,099 B2 and from WO 2010/053740 A1.

A dynamically balancing vehicle of this type comprises a chassis and at least two wheels for supporting the chassis on a ground, which are rotatably mounted on the chassis about a common Raddrehachse. Further, a drive device is provided, which with the wheels

is drive-coupled. Finally, a vehicle control device for

Controlling the drive means provided, which has an activatable and deactivatable balance mode, wherein the vehicle control in activated balance mode, the drive means for balancing, for positive and negative acceleration and steering of the vehicle drives.

In balance mode, for example, is permanently a tilt angle of a

Vehicle longitudinal axis relative to a perpendicular to the gravitational direction extending horizontal plane determined. The vehicle control device is now constantly trying by appropriate control of the drive means to reset this inclination angle to the value 0 °, whereby the vehicle is dynamically balanced. The driver can shift the center of gravity of the chassis relative to the body

Change horizontal plane, which makes it depending on the angle of inclination to a positive or negative acceleration of the vehicle comes. A positive acceleration is when the vehicle gets faster. A negative acceleration occurs when the vehicle slows down. Simplified, the negative acceleration can also be referred to as braking or deceleration, and the positive acceleration as accelerating.

In such a vehicle having exactly two wheels which rotate about a common Raddrehachse, the drive means for each wheel has a separate drive. Furthermore, a steering device for generating steering commands is expediently provided. Depending on the steering command, the

Drives for the two wheels are operated differently, resulting in a corresponding steering operation of the vehicle.

Such dynamically balancing vehicles have become known under the name "Segway" of the manufacturer Segway Inc. Since such

Vehicles can operate a tilt sensor with at least one gyroscope, these vehicles are sometimes referred to as gyroscopic vehicles or as gyroscopic stabilized vehicles.

In order for such a vehicle does not start automatically uncontrolled when switching on, when switching on the vehicle, the vehicle control device is first transferred to a standby mode in which the balance function is not yet active. The vehicle control device may have several additional

Monitor conditions before switching to balance mode.

For example, it may be provided that the vehicle must first be aligned horizontally before the vehicle control switches to the balance mode. Additionally or alternatively, it can be provided that the

Vehicle control device only switches to the balance mode when the vehicle is occupied by a person. A vehicle standing for a standing Person is provided is then occupied when the person is standing on a tread of the vehicle. A vehicle intended for a seated person is occupied when a person has sat down on a vehicle seat.

A modern vehicle of the type mentioned above can therefore be equipped with an electronic Belegungserkennungseinnchtung for detecting an occupancy of the vehicle with a person. The

Vehicle control device can now be coupled with this Belegungserkennungseinnchtung and be designed or programmed so that it activates the balance mode only if they from the Belegungserkennungseinnchtung a the occupancy of the vehicle with a person signaling

Occupancy signal receives.

For example, in the case of a vehicle for a standing person, it is conceivable to provide at least one light barrier in the region of the tread surface, which is then actuated when a person enters the tread surface. For example, this can be designed to be vertically movable in the area of the light barrier, the tread and have an actuating lug for actuating the light barrier. Upon entering the tread surface the actuating lug is moved into the optical path of the light barrier, whereby the light barrier is actuated.

Now, if such a vehicle is converted for a person standing in a vehicle for a seated person, usually the mounting of a vehicle seat on the chassis, whereby the tread is more or less inaccessible. In particular, one on the vehicle seat

person not standing on the tread at the same time to operate the photocell. In order to be able to signal the occupancy of the vehicle with a person to the vehicle control device, there are many more or less complicated options. One possibility is mechanically couple the vehicle seat with the tread so that the

Sitting a person on the vehicle seat causes a vertical load and adjustment of the tread, which is sufficient for operating the light barrier. Alternatively, it is possible to associate with the light barrier an electromechanical actuating device with the aid of which an actuating lug can be moved into the optical path of the light barrier. Via a suitable operating unit, the respective person can control the actuating device in order to adjust the actuating lug for actuating the light barrier in its optical path. These approaches each involve a mechanism that must be highly reliable in order to

To avoid malfunctions. However, a reliable mechanism is usually associated with high production costs.

The present invention deals with the problem for a

generic vehicle to show a way that allows a reliable switch to the balance mode. In particular, the conversion of a vehicle provided for a standing person into a vehicle provided for a seated person is thereby to be simplified.

This problem is inventively achieved by the subject matter of

independent claim solved. Advantageous embodiments are

Subject of the dependent claims.

The invention is based on the general idea to provide an operating unit, which has at least one manually operable control element, for example in the form of a switch, button, etc., and which can be connected to at least one electromechanical interface of the vehicle control device. Said interface is at the vehicle control for connecting an electrical occupancy detection device for detecting an occupancy of the Vehicle provided with a person and generates a occupancy of the vehicle with a person signaling occupancy signal when the

Vehicle is occupied by one person. The vehicle control device is designed and / or programmed so that it only activates the balance mode when it receives this occupancy signal via the respective interface. The operating unit proposed according to the invention is designed and / or programmed such that it is actuated upon actuation of the at least one

Operating element generates the occupancy signal and the respective interface feeds. In other words, the operating unit does without the on-board occupancy recognition device, but uses the fact that the

Vehicle control device for the use of such

Occupancy detection device is provided. For one, the uses

Control unit for the connection of the occupancy detection device provided electromechanical interface of the vehicle control device. On the other hand, the occupancy signal can be generated via the operating unit and provided via said interface of the vehicle control device. Thus, the person sitting on the vehicle seat can comfortably generate the occupancy signal via the operating unit, for example by pressing a key. Compared to the vehicle control device thereby entering the tread surface is simulated. In any case, the vehicle control device can switch to the balance mode when the occupancy signal is present.

The respective interface is a plug connection with socket part and plug part as well as with integrated electrical contacts and connections. For example, the connector part is provided by the vehicle control device. The control unit is then with the complementary

Socket equipped. In principle, a reverse arrangement is possible. The respective interface has at least one ground connection, a potential connection and a signal connection. The vehicle control device is expediently designed or programmed such that the occupancy signal is not present when the signal connection to the potential connection is electrically connected. In contrast, the occupancy signal is present when the electrical connection between the signal terminal and the potential terminal is disconnected. In other words, as long as a predetermined voltage is applied to the signal terminal, this is interpreted by the vehicle control device as a missing occupancy signal, that is, the vehicle is unoccupied. However, if the voltage falls below a predetermined limit at the signal terminal, the vehicle control unit assumes that the occupancy signal is now present, so that the vehicle is occupied. The use of a predetermined potential at the signal terminal for the absence of the occupancy signal has the advantage that when switching on the vehicle control device a

Function check of the occupancy detection device or the

Operating unit is feasible.

According to an advantageous development, the operating unit may have an electrical circuit which is connected to the potential terminal, the ground terminal and the signal terminal and which is configured such that it electrically energizes the potential terminal when the operating element is not actuated

Signal connection connects, while it separates the electrical connection between the potential connection and signal connection with actuated control element. By means of the circuit, the respective occupancy signal can therefore be generated in a particularly simple manner in conjunction with the respective operating element.

It is clear that in principle it can be provided that at least two different operating elements of the operating unit are manually operated in order to trigger the generation of the occupancy signal to prevent accidental operation.

In an advantageous development, the circuit can have at least one mechanical switch for establishing and disconnecting the electrical connection between the potential connection and the signal connection, which forms at least one such operating element. As a result, a particularly inexpensive solution is created.

In an alternative embodiment, the circuit may comprise at least one electronic switching element for establishing and disconnecting the electrical connection between potential terminal and signal terminal, which can be controlled via at least one mechanical activation switch, which forms the at least one operating element. By using such an electronic switching element, which may be, for example, an optocoupler or a transistor or a field effect transistor, it is achieved that the generation of the occupancy signal on the

Switching element on the one hand and the control of the respective

Activation switch on the other hand are spatially separated, which greatly simplifies the realization of such a control unit on the vehicle.

According to a particularly advantageous development, the circuit may have an electrical state memory module which is coupled on the output side to the switching element and on the input side to the respective activation switch. The state memory module can now be integrated into the circuit such that an actuation of the respective activation switch drives the state memory module to switch to an activation switching state, in which the state memory component blocks the switching element for disconnecting the electrical connection between potential connection and signal connection controls. As a result, the occupancy signal is then applied to the signal connection. The use of such a state memory device in the circuit simplifies the operation or generation of the occupancy signal.

For example, the activation switch only has to be actuated by the user once in order to switch the state memory component into the activation switching state, which then leads permanently to the generation of the assignment signal. Thus, for example, the activation switch does not need to be permanently actuated to permanently maintain the balance mode.

According to a development of the state memory module by an operation of a mechanical deactivation switch in a

Deactivation switch state are switched in which the

State memory module, the switching element for establishing the electrical connection between the potential terminal and the signal terminal controls. As a result, the non-allocation signal is then applied to the signal connection. Again, a short operation of the deactivation switch for a permanent switchover to the deactivation switching state, the absence of the

Permanently signal occupancy signal. Appropriately, the

State memory device be integrated into the circuit so that the

Deactivation switching state is automatically present when the corresponding potentials at the potential connection and at the earth connection are switched on. In other words, when the vehicle control device is switched on the assignment of the interface, the state memory block is automatically transferred to the deactivation switching state.

In another development, the circuit can be an electronic

Have drive, which between the at least one

Activation switch and the state memory block is arranged. This drive device is further configured or programmed such that a Actuation of the respective activation switch, the drive means controls so that the drive means drives the state memory block to switch to the activation switching state in which he

Switching element for separating the electrical connection between

Potential connection and signal connection activates. Such

Control device can be realized, for example, by means of a microcontroller. In principle, however, any other control logic for

Realizing such a drive device can be used. The

Use of such a drive opens up manifold

Possibilities to consider further boundary conditions that must be met in order to generate or terminate the occupancy signal, for example. In addition, other situations can also be defined via such a control device, which can also automatically trigger an activation or deactivation of the occupancy signal, without the need for manual actuation of the respective activation switch or the aforementioned deactivation switch is required.

According to a development, the circuit can be an electronic

Have coupling module, which is arranged between the drive means and the state memory module whose input side with the

Drive is coupled, whose output side with the

State memory block is coupled and the input side is galvanically isolated from the output side. Such a coupling module can be formed, for example, by an optocoupler or by a digital coupler. With the help of such a coupling module can be a reliable

Functioning of the circuit presented here and thus the operating unit can be improved. In particular, different electrical

Separate potentials, on the one hand on the side of the Ansteuereinnchtung and on the other hand may be present on the side of the switching element.

Particularly advantageous is an embodiment in which the

Ansteuereinnchtung a switch test line with a for

Signal connection leading output of the switching element is electrically connected. Thus, the Ansteuereinnchtung check whether the respective control of the switching element for activating or deactivating the occupancy signal works. In addition, the Ansteuereinnchtung thereby knows the current occupancy state of the vehicle, ie "occupied" or "unoccupied".

Additionally or alternatively, the Ansteuereinnungung over a

Speicherprüfleitung be electrically connected to a leading to the state memory block input of the switching element. In this way, the

Control device check whether the activation of the

State memory blocks, which should lead to an activation or deactivation of the occupancy signal, works.

Particularly advantageous is a development in which the Ansteuereinnchtung monitors the presence of at least one additional condition and only with an actuation of the respective activation switch the

Status memory block for switching to said

Activation switching state activates if the respective additional condition exists. For example, the chassis can carry a vehicle seat, which is assigned a seat occupancy recognition. The Ansteuereinnit can then monitor the occupancy of the vehicle seat as an additional condition, so that an actuation of the respective activation switch only then

Status memory block for switching to the activation switching state controls when the vehicle seat is occupied. In this way, the Increase operational safety of the vehicle, which is intended for a seated user. It is important here that the seat occupancy recognition of the vehicle intended for a seated person in this embodiment does not simply replace the occupancy recognition device of the vehicle intended for a standing person. For example, if the person is a disabled person or an elderly person, sitting on the couch is enough

Vehicle seat not to activate the balance mode, which can immediately trigger a vehicle. Rather, the activation switch must still be deliberately actuated in order to generate the occupancy signal.

Suitably, the vehicle control device several such

Interfaces, to each of which an electronic

Occupancy recognition device for detecting an occupancy of the vehicle with a person can be connected. For example, a vehicle provided for a stationary vehicle driver can have on its tread surface for each foot of the vehicle driver in each case a front and a rear light barrier, so that a total of four light barriers and accordingly four such interfaces are provided. To switch to the balance mode, it is sufficient if a single light barrier is operated.

Conveniently, the control unit can now at least two such

Be connected interfaces, the circuit for these two

Interfaces redundant. This redundancy increases the

Operational safety of the vehicle and reduces the risk of an accident in case of failure of an electronic component of the circuit.

Other important features and advantages of the invention will become apparent from the dependent claims, from the drawings and from the associated

Description of the figures with reference to the drawings. It is understood that the features mentioned above and those yet to be explained below can be used not only in the particular combination given, but also in other combinations or in isolation, without departing from the scope of the present invention.

Preferred embodiments of the invention are illustrated in the drawings and will be described in more detail in the following description, wherein like reference numerals refer to the same or similar or functionally identical components.

Show, in each case schematically,

1 is a greatly simplified side view of a vehicle,

2 is a schematic diagram of a vehicle control device,

3 is a circuit diagram of an occupancy detection device,

4 to 9 are each a circuit diagram for a circuit of a

Operating unit, in various embodiments,

Fig. 10 is a detail of the circuit diagram of Figs. 8 and 9, but in a further embodiment.

1, a dynamically balancing vehicle 1 comprises a chassis 2 and at least two wheels 3 for supporting the chassis 2 on a ground 4 on which the vehicle 1 is standing or driving. The wheels 3 are rotatably mounted on the chassis 2 about a common Raddrehachse 5. The Raddrehachse 5 extends parallel to a vehicle transverse axis Y, which runs in Fig. 1 perpendicular to the plane of the drawing. The vehicle transverse axis Y extends horizontally and perpendicular to a vehicle longitudinal axis X which also extends horizontally. A vehicle vertical axis Z extends vertically and thus perpendicular to the vehicle longitudinal axis X and perpendicular to

Vehicle transverse axis Y. In the side view of Fig. 1, only the observer associated vehicle wheel 3 can be seen, with respect to the

Vehicle longitudinal axis X located on the left side of the vehicle. The right wheel 3 is not visible in this side view.

The vehicle 1 is also equipped with a drive device 6, which is drive-connected to the wheels 3. For example, has the

Drive device 6 for each wheel 3 a separate electric drive motor 7. A vehicle control device 8 is used to drive the drive device 6. It is suitably connected to the respective drive motor 7 and a battery 9. Furthermore, an inclination sensor 10 is expediently provided, which in the example can be integrated into the vehicle control device 8. In addition, a steering angle sensor 1 1 is provided, which is coupled in a suitable manner with the vehicle control device 8.

The vehicle 1 is further equipped with a steering device 12, which in the example has a handlebar 13. The handlebar 13 is mounted at the bottom of a steering bearing 14 about a steering axis 15 pivotally mounted on the chassis 2. The steering axle 15 expediently runs parallel to the vehicle longitudinal axis X. The handlebar 13 carries a handle 16 above.

The vehicle 1 is also equipped with a vehicle seat 17 with seat cushion 18 and backrest 19. Armrests can also be provided. The vehicle control device 8 has an activatable and deactivatable balance mode. Only if the balance mode is activated, controls the

Vehicle control device 8, the drive means 6 for balancing, for positive and negative acceleration and for steering the vehicle 1 at.

According to FIG. 2, the vehicle control device 8 can have at least one

electromechanical interface 20, to each one

Occupancy detection device 21 is connectable. In the example of FIG. 2, four such interfaces 20 are provided. In the view of FIG. 1, two such occupancy detection devices 21 are indicated. With the help of the respective occupancy detection device 21, an occupancy of the

Vehicle 1 can be detected with one person. The respective

Occupancy recognition device 21 then generates an occupancy signal which can be tapped off at the respective interface 20.

Such an occupancy recognition device 21 is provided in a vehicle 1 for stationary vehicle driver in order to recognize the vehicle 1 entering the vehicle driver. Although a vehicle 1 for a seated vehicle driver shows a vehicle 1 for a seated vehicle driver, a tread surface 22 of this type is indicated for such a vehicle 1 not for seated vehicle drivers must be present. However, since a vehicle 1 provided for the seated vehicle driver frequently emerges from a vehicle 1 provided for a standing vehicle driver by conversion, such a tread surface 22 may in principle still be present. Basically, the

Occupancy recognition devices 21 may still be present, for example for dismantling in a vehicle 1 for stationary vehicle drivers, but do not have to. In any case, the associated interfaces 20 at the

Vehicle control device 8 still available.

By way of example only, the respective occupancy detection device 21 according to FIG. 1 may each have a light barrier 23, which is actuated upon entering the tread surface 22. For example, the tread surface 22 may each be vertically movable in the region of such a light barrier 23 according to double arrows 24 and have an actuating lug on its side facing the respective light barrier 23, which is displaced into the optical path of the respective light barrier 23 when a person treads the tread surface 22 enters. Provided each foot of the driver is assigned to a tread zone within the tread surface 22 and provided in each occurrence zone also each have a front and a rear occupancy detection device 21, the vehicle 1 for stationary vehicle driver is a total of four

Occupancy recognition devices 21 equipped. In any case, the vehicle control device 8 then has at least four such interfaces 20.

In Fig. 3 is purely exemplary a circuit diagram for a

Occupancy detection device 21 reproduced that works with such a light barrier 23. The interface 20 is designated SV1 and has three terminals 1 to 3, namely a ground terminal MA, a

Potential connection PA and a signal connection SA. The ground terminal MA is connected to the ground GNB1. The potential terminal PA is connected to a predetermined positive potential VNB1. At the signal terminal SA, the occupancy signal can be tapped.

The light barrier 23 is designated in FIG. 3 with IC1 and is purely exemplary of the type TCST1 103. It can also be of the type H42B6. The light barrier has four terminals 1 to 4. In the non-actuated state of the light barrier 23, which is present when the vehicle 1 is empty, the light barrier 23 is not covered. In the uncovered state, an output transistor of the light barrier 23 switches a logical 1, z. Ex., Plus 5 volts, which is applied to the signal terminal SA and accordingly represents a non-occupancy signal. If, however, the photocell 23 is actuated, which occurs when entering the tread 22, their optical path is interrupted, resulting in a covered state for the

Photocell 23 results. In this covered state the lock

Output transistor. This is above the resistor R1 a logical 0, z. Ex. 0 volts, at the signal terminal SA on. This then corresponds to the occupancy signal.

In summary, this means that at the signal terminal SA the

Occupancy signal is present when an electrical connection between the signal terminal SA and the potential terminal PA is disconnected. In contrast, the occupancy signal is not applied to the signal terminal SA when the signal terminal SA is electrically connected to the potential terminal PA.

Further components of the interconnection shown in FIG. 3 are a

Load resistor R1 for the light barrier signal, also called

Terminating resistor can be used for a test function. Further, a resistor R2 for current adjustment for the light-emitting diode of the light barrier 23 is provided and a filter capacitor C1.

However, if, as in the vehicle 1 relevant here with vehicle seat 17, the tread surface 22 is no longer available or is not available, the vehicle 1 is equipped with an operating unit 25, which has, for example. An attached to the handle 16 console 26, at least one manually operable control element 27, z. Ex. Is provided in the form of a button or switch. The operating unit 25 is connected via at least one corresponding connecting line 28 to at least one such interface 20. In the example of Fig. 2, the control unit 25 is connected to two such interfaces 20, while the other two interfaces 20 via other lines 29, for example, continue to be connected to two occupancy detection devices 21, which are unused in this case. Likewise, these two others

Interfaces 20 be unoccupied.

The operating unit 25 is designed or programmed so that it upon actuation of the respective operating element 27, the above

Occupancy signal generated and the respective interface 20 feeds, so that it can be tapped off at the signal terminal 20. The operating unit 25 thus simulates the occupancy of the vehicle 1 instead of the respective occupancy recognition device 21 and generates the occupancy signal required for this purpose.

According to FIGS. 4 to 10, the operating unit 25 also comprises a

electrical circuit 30, to the potential terminal PA, the

Ground terminal MA and the signal terminal SA of the interface 20th

connected. The circuit 30 is expediently located in the vicinity of the vehicle control device 8, that is to say not necessarily in the console 26, but rather in the region of the chassis 2.

The circuit 30 is further designed to operate when unactuated

Control element 27 electrically connects the potential terminal PA to the signal terminal SA, whereby the unoccupied signal is generated, while it is the electrical connection between when operating element 27

Potential terminal PA and signal terminal SA separates, causing the

Occupancy signal is generated.

In the simplest example of FIG. 4, the circuit 30 has a mechanical switch 31, which is also designated SW1 in FIG. 4. With the switch 31, the electrical connection between potential terminal PA and

Signal connection SA are manufactured and separated. The mechanical switch 31 forms at least one of the operating elements 27.

In the embodiments of FIGS. 5 to 10, instead of such a mechanical switch 31, at least one electronic switching element 32 is provided, with the aid of which the electrical connection between

Potential connection PA and signal connection SA can be made and separated. For driving the switching element 32, at least one mechanical activation switch 33 is provided, which then forms one of the operating elements 27. In the example of FIG. 5, the switching element 32 is a PNP transistor, for. Example of the type BC557. The transistor is also designated TSI in FIG. The circuit 30 further includes a load resistor R1 and resistors R5 and R6 for forming a voltage divider to drive the transistor TS1.

In the example of FIG. 6, the switching element 32 is formed by a field effect transistor, for. Example of the type P-channel FET. In Fig. 6, the FET transistor is also denoted by TSI.

In the example of FIG. 7, the switching element 32 is formed by an optocoupler, which is also designated IC1 in FIG. 7 and is, for example, of the type LTV816. In this circuit 30, the signal change at the signal terminal SA by turning on and off the LED current using the

Activation switch 33 or SW1 reached. The setting resistor R2 determines the light-emitting diode current. The capacitor C1 filters the switching signal. In addition to the activation switch 33, a switching line 34 is shown in Fig. 7, via which also an activation signal for driving the switching element 32 can be fed to turn on or off the occupancy signal on Signal connection SA to effect. Via a pull-down resistor R3, a defined state can be set when the switching element 32 is inactive.

In the circuit diagram shown in Fig. 8, the area around the switching element 32 is identical to the embodiment shown in Fig. 5, in which the switching element 32 is formed by a PNP transistor. It is clear that another embodiment of the switching element 32 may also be used here, for example according to the embodiments of FIGS. 6 and 7.

In the embodiment shown in Fig. 8, the circuit 30 between the activation switch 33 and the switching element 32 is equipped with an electrical state memory device 35, which is also designated as IC2 in Fig. 8 and which is, for example, a component of the type 74HCT74 can act. The state memory module 35 is coupled on the output side to the switching element 32 and on the input side to the activation switch 33. The integration or interconnection of the state memory module 35 takes place in such a way that actuation of the activation switch 33, which is also designated SW2 in FIG. 8, activates the status memory module 35 in such a way that it switches to an activation state. In this activation state, the state memory device 35 then controls the switching element 32 in such a way that it disconnects the electrical connection between the signal connection SA and the potential connection PA. As a result, the occupancy signal is then applied to the signal terminal SA.

In the example of Fig. 8 is for successful operation of the

Activation switch 33 also requires the operation of a confirmation switch 36, which is also designated in Fig. 8 with SW3. In Fig. 8 also a deactivation switch 37 is shown, which is also designated SW4 and whose operation switches the state memory device 35 in a deactivation switching state. Again, this is for an effective

Actuation of the deactivation switch 37 simultaneously requires an actuation of the confirmation switch 36. In the deactivation state, the state memory device 35 controls the switching element 32 in such a way that the electrical connection between the potential connection PA and the signal connection SA is restored. As a result, the signal connection is again the

Unassigned signal on. Furthermore, it is provided in the example of FIG. 8 that the state memory device 35 is integrated into the circuit 30 in such a way that the deactivation switching state when switching on

Vehicle control device 8, that is automatically present when the corresponding potentials to the potential terminal PA and the ground terminal MA. This is achieved by a set-reset arrangement 38 with two

Filter capacitors C1 1 and C12 and two pull-up resistors R3 and R4 and with a reset controller 39, which is also indicated in Fig. 8 with IC3 and the example. Of the type ADM81 may be 1. The reset controller 39 is also used in the example of FIG. 8 to switch on the deactivation switch 37 in

Connection to the confirmation switch 36 to drive the state memory device 35 to switch to the deactivation switching state.

In addition to the control line 34, via the z. Ex. In connection with a microcontroller, the switching state of the state memory block 35 to

Establish and disconnect the electrical connection between

Potential connection PA and signal terminal SA can be tested, in the example of FIG. 8 also two further control lines, namely a

Activation control line 40 and deactivation control line 41

provided, on the z. For example, a microcontroller can control the state memory device 35 to switch between its switching states. In Fig. 8, a plurality of filter capacitors C2, C3, C4, C5 are also provided for the power supply.

The embodiment shown in FIG. 9 is based on that shown in FIG

Embodiment, but is supplemented by an electronic drive means 42 which is arranged between the respective activation switch 33, which is no longer shown in Fig. 9, and the state memory module 35. This control device 42 is in the simplest case a microcontroller. Alternatively, however, another suitable control logic is also suitable for this purpose. The control device 42 is designed or incorporated into the circuit 30 such that an actuation of the not shown

Activation switch 33, possibly in conjunction with actuation of the

Confirmation switch 36, the drive means 42 controls so that in turn the state memory block 35 for switching to the

Activation switching state activates. Likewise, an actuation of the

Deactivation switch 37, possibly in conjunction with actuation of the

Confirmation switch 36, the driver 42 cause the state memory block 35 to switch to the

To activate deactivation switching state.

In the example of FIG. 9, the circuit 30 is also equipped with an electronic coupling module 43, which is also designated IC4 in FIG. 9 and which may be of the type ADUM1402, for example. Accordingly, it is preferably a digital coupler. Alternatively, it may be

Coupling module 43 also act on an optocoupler. In any case, the coupling module 43 between the driver 42 and the

State memory device 35 is arranged so that the input side of the

Coupling module 43 is coupled to the driver 42, while the output side of the coupling module 43 with the

State memory block 35 is coupled. Within the coupling module 43 there is a galvanic isolation between the input side and the output side, which is accompanied by a potential separation. The control of the state memory module 35 by means of the control device 42 thus takes place through the coupling module 43.

The control device 42 is in the example of FIG. 9 also with a

Switch test line 44 is equipped, which is electrically connected to a leading to the signal terminal SA output of the switching element 32. If the switching element 32 is a PNP transistor, said output is the collector terminal of the transistor. Via the switch test line 44, the control device 42 can monitor which signal is currently present at the signal connection SA. In particular, the function of the entire circuit 30 can be checked in this regard.

Additionally or alternatively, the drive device 42 a

Have memory test line 45 which is electrically connected to an input to the state memory block 35 input of the switching element 32. If the switching element 32 is a PNP transistor as in the example of FIG. 9, said input is the base terminal of the switching element 32. With the aid of the memory test line 45, the drive device 42 can check which state the state memory device 35 currently has. Thus, the function of the circuit 30 of the manually operable controls 27, for example, the switches 33, 36 and 37 correspond to be checked up to the state memory module 35 by the driver 42. The transmission of the signals of the test leads 44 and 45 to the drive means 42 is also electrically isolated by the coupling module 43 therethrough. In detail, using the Ansteuereinnchtung 42 is the setting and

Resetting the output Q1 of the state memory block 35 not as in the example of FIG. 8 via the set-reset inputs PS1 and CL1, but via the data input D1 and the clock input CK1. The signal LSDAT1 the

Drive 42 may assume states 0 and 1. With the signal LSWR1 of the driver 42, which corresponds to a write pulse CK1, the state of LSDAT1 at the data input D1 is stored in the memory of the

State memory block 35 written. The output Q1 then assumes the state of LSDAT1. The signals LS DAT 1 and LSWR1 assume a defined state via the pull-up resistors R9 and R10 in the event of a power failure and when the control is reset. In order to avoid potential problems, the region leading to the microcontroller or to the driving device 42 and the region of the circuit 30 leading to the switching element 32 are electrically isolated by the coupling module 43. About this

Coupling module 43 and the signals LS1_ON and LS1_SWT for condition monitoring via the above test lines 44, 45 are transmitted to the Ansteuereinnchtung 42. Because the state of

State memory block 35 can not be changed in case of failure of Ansteuereinnchtung 42, the reset controller 39, IC3, not only for

Monitoring the voltage VNB1, but also to the emergency stop function to reset the switching element 32 can. In addition, this is a

Emergency stop switch 46 is provided, which is designated in Fig. 9 with SW1.

Via a further optocoupler 47, which is also denoted by IC5 in FIG. 9 and which may, for example, be of the type LTV826, the state of the voltage VNB1, namely the signal NB_ON1 and the state of the emergency stop switch 46, are monitored via the signal NB_NOT the Ansteuereinnchtung 42 reported. The resistors R7 and R8 are used to adjust the current

Light-emitting diodes of the optocoupler 47. The filter capacitors C6 and C7 are in the voltage supply of the coupling module 43 integrated. A manual actuation of the emergency stop switch 46 then resets the memory output Q1 in order to generate the non-occupancy signal at the signal terminal SA. The resistors R5 and R6 serve again to drive the switching element 32 via the memory output Q1.

In Fig. 10 it is indicated that in the circuit of FIGS. 8 and 9, instead of the PNP transistor, a P-channel FET transistor for the realization of

Switching element 32 can be used.

The Ansteuereinnchtung 42, which is formed in particular by a microcontroller, may suitably also the presence of at least one

Supervise additional condition, such that an actuation of the

Activation switch 33, possibly in conjunction with actuation of the

Confirmation switch 36, only to switch the

State memory block 35 leads, if the respective additional condition is fulfilled. For example, a seat occupancy recognition 48 indicated in FIG. 1 may be provided, which monitors whether a person has sat down on the vehicle seat 17. In the logic of the Ansteuereinnchtung 42 may now be deposited, that the occupancy signal may be applied to the signal terminal SA only if the vehicle seat 17 is occupied.

In Fig. 1, such a seat occupancy detection 48 is indicated, which is coupled in a suitable manner with the Ansteuereinnchtung 42. For example, the seat occupancy detection 48 may include a switch or a pressure sensor or the like, which is operated when a person sits on the seat cushion 18. Additionally or alternatively, the drive device 42 may be coupled to an inclination sensor system that is independent of the vehicle control device 8 in order to monitor a horizontal orientation of the vehicle 1. Again, it can be provided that only the occupancy signal is applied to the signal terminal SA when the vehicle 1 is aligned horizontally. Additionally or alternatively, the control device 42 upon actuation of the

Activation switch 33 or the deactivation switch 37 monitor whether, in addition, the confirmation switch 36 is operated within a predetermined time window to distinguish an intentional activation or deactivation of an accidental activation or deactivation.

Although in the examples of FIGS. 4 to 10 the circuit 30 is shown for only a single interface 20, the control unit 25, when connected to two or more interfaces 20, may have two or more quasi-identical circuits 30, to a corresponding one To realize redundancy. Appropriately, it is provided that, with regard to the embodiment of the circuit 30 shown in FIG. 9, at least the region which can be recognized in the right half and which extends from the interface 20 through to the

State memory block 35 leads, is provided redundantly, while the left in Fig. 9 recognizable area of the circuit 30, which includes the drive means 42 and the coupling module 43 may be provided for the two or more redundant systems together. However, in the case of a redundant system, the region of the circuit 30 which is recognizable on the left in FIG. 9 and which comprises the drive device 42 and the coupling module 43 is preferably designed separately for each of the interfaces 20.

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Claims

claims

1 . Dynamically balancing vehicle (1),

- with a chassis (2),

- Having at least two wheels (3) for supporting the chassis (2) on a substrate (4) which are rotatably mounted on the chassis (2) about a common Raddrehachse (5),

- With a drive device (6) which is drive-coupled to the wheels (3),

- With a vehicle control device (8) for driving the

Drive device (6) having an activatable and deactivatable

Has balance mode,

- Wherein the vehicle control device (8) in activated balance mode, the drive means (6) for balancing, to the positive and negative

Accelerate and steer to steer the vehicle (1),

characterized,

- That the vehicle control device (8) has at least one electromechanical interface (20) to which an electronic

Occupancy recognition device (21) for detecting an occupancy of the vehicle (1) can be connected to a person,

- That the vehicle control device (8) is designed and / or programmed so that it activates the balance mode only when it receives via the respective interface (20) a occupancy of the vehicle (1) with a person signaling occupancy signal, - That an operating unit (25) is provided which has at least one manually operable control element (27) and which is connected to at least one such interface (20),

- That the operating unit (25) is designed and / or programmed so that it generates the occupancy signal upon actuation of the at least one operating element (27) and the respective interface (20) supplies.

2. Vehicle according to claim 1,

characterized,

- That the respective interface (20) has a ground connection (MA), a

Having potential connection (PA) and a signal connection (SA),

- That the occupancy signal is not present when the signal terminal (SA) is electrically connected to the potential terminal (PA),

- That the occupancy signal is present when the electrical connection between the signal terminal (SA) and potential terminal (PA) is disconnected.

3. Vehicle according to claim 2,

characterized,

in that the operating unit (25) has an electrical circuit (30) which is connected to the potential connection (PA), the ground connection (MA) and the signal connection (SA) and which, when the control element (27) is not actuated, electrically connects the potential connection (PA) the signal terminal (SA) connects and the control element (27), the electrical connection between

Potential connection (PA) and signal connection (SA) disconnects.

4. Vehicle according to claim 3,

characterized,

in that the circuit (30) comprises at least one mechanical switch (31) for establishing and disconnecting the electrical connection between Potential terminal (PA) and signal terminal (SA), which forms the at least one operating element (27).

5. Vehicle according to claim 3,

characterized,

in that the circuit (30) has at least one electronic switching element (32) for establishing and disconnecting the electrical connection between

Potential terminal (PA) and signal terminal (SA) which can be controlled via at least one mechanical activation switch (33), which forms at least one operating element (27).

6. Vehicle according to claim 5,

characterized,

- That the circuit (30) has an electrical state memory module (35), the output side of the switching element (32) and the input side is coupled to the respective activation switch (33),

- That the state memory device (35) is so integrated into the circuit (30) that an actuation of the respective activation switch (33) the

State memory block (35) for switching to a

Activation switching state in which it controls the switching element (32) for disconnecting the electrical connection between the potential terminal (PA) and signal terminal (SA).

7. Vehicle according to claim 6,

characterized,

- That the state memory block (35) by an operation of a

mechanical deactivation switch (37) in one

Deactivates the deactivation switching state in which it activates the switching element (32) for establishing the electrical connection between potential connection (PA) and signal connection (SA),

- That the state memory device (35) is so integrated into the circuit (30) that this deactivation switching state automatically when turning on the potentials at the potential terminal (PA) and the ground terminal (MA).

8. Vehicle according to claim 6 or 7,

characterized,

in that the circuit (30) has an electronic control device (42) which is connected between the at least one activation switch (33) and the

State memory block (35) is arranged so that an actuation of the respective activation switch (33) controls the Ansteuereinnchtung (42) so that they are the state memory device (35) for switching in the

Activation switching state activates.

9. Vehicle according to claim 8,

characterized,

in that the circuit (30) has an electronic coupling module (43) which is arranged between the control unit (42) and the status memory module (35) whose input side is coupled to the control unit (42) whose output side is coupled to the status memory module (35) is and whose input side is galvanically isolated from the output side.

10. Vehicle according to claim 8 or 9,

characterized, the control device (42) is electrically connected via a switch test line (44) to an output of the switching element (32) leading to the signal connection (SA).

1 1. Vehicle according to one of claims 8 to 10,

characterized,

the control device (42) is electrically connected via a memory test line (45) to an input of the switching element (32) leading to the state memory device (35).

12. Vehicle according to one of claims 8 to 1 1,

characterized,

the control device (42) is the presence of at least one

Supplementary condition monitored and upon actuation of the respective

Activation switch (33) only the state memory module (35) for switching to the activation switching state drives, if the respective additional condition exists.

13. Vehicle according to claim 12,

characterized,

- that the chassis (2) carries a vehicle seat (17),

that a seat occupancy recognition (48) is provided,

- That the Ansteuereinnitung (42) monitors the occupancy of the vehicle seat (17) as an additional condition, so that actuation of the respective activation switch (33) only the state memory device (35) for switching to the activation switching state controls when the

Vehicle seat (17) is occupied.

14. Vehicle according to one of claims 3 to 13, characterized,

- that the vehicle control device (8) has a plurality of such interfaces (20),

- That the operating unit (25) is connected to at least two such interfaces (20),

- That the circuit (30) for the two interfaces (20) redundant

is designed.

15. Operating unit for a vehicle (1) according to one of claims 1 to 14,

- Wherein the operating unit (25) at least one manually operable

Operating element (27) and at least one interface (20) of a vehicle control device (8) can be connected to the instead of the operating unit (25) an electrical occupancy detection device (21) for detecting an occupancy of the vehicle (1) can be connected to a person, which at the respective interface (20) a occupancy of the vehicle (1) with a person signaling occupancy signal applies when the vehicle (1) is occupied by a person,

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