PROBLEM TO BE SOLVED: To reduce error between sensor values of respective sensors, and continue stable inversion control.SOLUTION: An inverted pendulum mobile body comprises: three or more sensors for outputting detection signals of a same detection object, respectively; control means for performing inversion control, based on the sensor value which is a central value when the respective sensor values output from the respective sensors are arranged in a descending order or ascending order; determination means for determining whether absolute values of the respective sensor values output by the respective sensors are equal to or less than a threshold, or not, in a start-up time or a stop state of the inverted pendulum mobile body; average calculation means for calculating an average value of differences between the sensor central value in the start-up time or the stop state, and the sensor values of the respective sensors, when the absolute values of the sensor values of the respective sensors are equal to or less than the threshold, by determination of the determination means; and correction means for correcting the sensor values of the respective sensors by subtracting or adding the average value of differences calculated by the average calculation means from the sensor values of the respective sensors.

    【課題】各センサのセンサ値間の誤差を低減し安定的な倒立制御を継続すること。【解決手段】倒立型移動体は、同一検出対象の検出信号を出力する3つ以上のセンサと、 各センサから出力される各センサ値を降順又は昇順に並べた際に中央に位置するセンサ値に基づいて、倒立制御を行う制御手段と、当該倒立型移動体の起動時又は停止状態において各センサから出力される各センサ値の絶対値が閾値以下であるか否かを判定する判定手段と、判定手段により各センサのセンサ値の絶対値が閾値以下であると判定されたとき、起動時又は停止状態におけるセンサ中央値と各センサのセンサ値との差分の平均値を算出する平均算出手段と、各センサのセンサ値から、平均算出手段により算出された差分の平均値を減算又は加算することで、各センサのセンサ値を補正する補正手段と、を備える。【選択図】図2


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    Title :

    INVERTED-PENDULUM MOBILE BODY


    Additional title:

    倒立型移動体


    Contributors:
    NAKAYAMA TAKAHIRO (author) / BITO KOJI (author) / TAIRA TETSUYA (author) / KIDA YUSUKE (author)

    Publication date :

    2015-08-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62K Fahrräder , CYCLES / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01M TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES , Prüfen der statischen oder dynamischen Massenverteilung rotierender Teile von Maschinen oder Konstruktionen / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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