PROBLEM TO BE SOLVED: To provide an inverted two-wheel type moving body system operable as far as possible while securing safety of and around an occupant even when there is one or more objects in the periphery.SOLUTION: An inverted two-wheel type moving body system 1 comprises: an inverted two-wheel type moving body 2 maintaining an inverted state under an inversion control, and at the same time, driving wheels by using a motor; and a camera 3 detecting objects in the periphery. A control unit of the inverted two-wheel type moving body 2 estimates a get-in stage of an occupant of the inverted two-wheel type moving body 2 according to a drive state of the motor detected by a rotation sensor, and set a predetermined range around the inverted two-wheel type moving body 2 on the basis of the estimated get-in state. The control unit determines if a distance between the inverted two-wheel type moving body 2 and an object detected by the camera 3 within the predetermined range is less than the predetermined distance, and if the distance is less than the predetermined distance, a play amount of a steering 11 is increased.SELECTED DRAWING: Figure 1
【課題】周囲に物体がある場合でも、搭乗者や周辺の安全を確保しつつできる限り動作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1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倒立二輪型移動体2と、その周辺の物体を検出するカメラ3を備える。倒立二輪型移動体2の制御部は、回転センサが検出したモータの駆動状態に基づいて、倒立二輪型移動体2の搭乗者の乗車状態を推定し、推定した乗車状態に基づいて、倒立二輪型移動体2の周辺に所定の範囲を設定する。制御部は、カメラ3が検出した所定の範囲内にある物体について、倒立二輪型移動体2との距離が所定の距離未満であるか否かを判定し、距離が所定の距離未満である場合に操作ハンドル11の遊び量を増加させる。【選択図】図1
INVERTED TWO-WHEEL TYPE MOVING BODY SYSTEM
倒立二輪型移動体システム
2016-05-12
Patent
Electronic Resource
Japanese
IPC: | B62K Fahrräder , CYCLES |
INVERTED TWO-WHEEL TYPE MOVING BODY AND CONTROL METHOD THEREFOR
European Patent Office | 2016
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