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 system comprises an inverted two-wheel type moving body 10 configured to drive wheels 2R, 2L by motors 31R, 31L while maintaining an inverted state through inversion control, and suspension means 20 of suspending the inverted two-wheel type moving body 10 or a passenger in a tension adjustable state. The inverted two-wheel type moving body 10 comprises a control part 5 which controls driving of motors 31R, 31L, and sensors 13R, 13L which detect driving states of the motors 31R, 31L, and the control part 5 estimates output that the motors 31R, 31L require based upon the driving states, and increases tension of the suspension means 20 when the estimated output exceeds an output limit of the motors 31R, 31L.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システムを提供すること。【解決手段】倒立二輪型移動体システムは、倒立制御により倒立状態を維持しつつ車輪2R、2Lをモータ31R、31Lによって駆動する倒立二輪型移動体10と、倒立二輪型移動体10もしくは搭乗者を張力調整可能に懸垂する懸垂手段20と、を備えたものである。倒立二輪型移動体10は、モータ31R、31Lの駆動を制御する制御部5と、モータ31R、31Lの駆動状態を検出するセンサ13R、13Lと、を備え、制御部5は、駆動状態に基づいて、モータ31R、31Lに要求される出力を推定し、推定した出力がモータ31R、31Lの出力限界を超えている場合、懸垂手段20の張力を上昇させる。【選択図】図4


    Access

    Download


    Export, share and cite



    Title :

    INVERTED TWO-WHEEL TYPE MOVING BODY AND CONTROL METHOD THEREFOR


    Additional title:

    倒立二輪型移動体システム及びその制御方法


    Contributors:

    Publication date :

    2016-04-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62K Fahrräder , CYCLES



    INVERTED TWO-WHEEL TYPE MOVING BODY AND CONTROL METHOD THEREFOR

    TAKAHASHI MASAHIRO / YAMADA MASASHI | European Patent Office | 2016

    Free access

    INVERTED TWO-WHEEL TYPE MOVING BODY AND CONTROL METHOD THEREFOR

    TAKAHASHI MASAHIRO | European Patent Office | 2016

    Free access

    INVERTED TWO-WHEEL TYPE MOVING BODY AND CONTROL METHOD THEREFOR

    TAKAHASHI MASAHIRO | European Patent Office | 2016

    Free access

    INVERTED TWO-WHEEL TYPE MOVING BODY

    TAKAHASHI MASAHIRO / FUJISHIMA TAKAHIRO | European Patent Office | 2018

    Free access

    INVERTED TWO-WHEEL TYPE MOVING BODY

    KIDA YUSUKE / BITO KOJI | European Patent Office | 2016

    Free access