PROBLEM TO BE SOLVED: To provide an inverted two-wheel type moving body which can be controlled such that motor output requested to maintain an inverted state does not exceed an output limit.SOLUTION: An inverted two-wheel type moving body is configured to drive wheels by motors while maintaining an inverted state through inversion control. The inverted two-wheel type moving body comprises a control part which controls driving of the motors and also controls an operation range of the inverted two-wheel moving body, and sensors which detect driving states of the motors, and the control part estimates output that the motor requires based upon the driving states, and reduces the operation range when the estimated output exceeds an output limit of the motors.SELECTED DRAWING: Figure 4
【課題】倒立状態を維持するために要求されるモータ出力が、出力限界を超えないように制御可能な倒立二輪型移動体を提供すること。【解決手段】倒立二輪型移動体は、倒立制御により倒立状態を維持しつつ、車輪をモータによって駆動するものである。モータの駆動を制御するとともに倒立二輪型移動体の稼動範囲を制御する制御部と、モータの駆動状態を検出するセンサと、を備え、制御部は、駆動状態に基づいて、モータに要求される出力を推定し、推定した出力がモータの出力限界を超えている場合、稼動範囲を縮小する。【選択図】図4
INVERTED TWO-WHEEL TYPE MOVING BODY AND CONTROL METHOD THEREFOR
倒立二輪型移動体及びその制御方法
2016-04-11
Patent
Elektronische Ressource
Japanisch
INVERTED TWO-WHEEL TYPE MOVING BODY AND CONTROL METHOD THEREFOR
Europäisches Patentamt | 2016
|INVERTED TWO-WHEEL TYPE MOVING BODY AND CONTROL METHOD THEREFOR
Europäisches Patentamt | 2016
|INVERTED TWO-WHEEL TYPE MOVING BODY AND CONTROL METHOD THEREFOR
Europäisches Patentamt | 2016
|