PROBLEM TO BE SOLVED: To provide an inverted two-wheel type moving body which can suppress a turn when the moving body turns by a reason that a wheel at a single side cannot move.SOLUTION: An inverted two-wheel type moving body 1 independently drives a right wheel 14R and a left wheel 14L by a drive motor while maintaining an inverted state by inversion control, and turns according to a speed difference between the right wheel 14R and the left wheel 14L. The inverted two-wheel type moving body 1 comprises: a posture angle sensor which measures an angle of the inverted two-wheel type moving body 1 in a pitch direction; a speed sensor which detects speeds of the right wheel 14R and the left wheel 14L; and a control part which decelerates the speed of the wheel whose detected speed is higher out of the right wheel 14R and the left wheel 14L when an absolute value of the angle which is measured by the posture angle sensor is smaller than a prescribed value θ, and a magnitude of the sum of the speed vof the right wheel 14R and the speed vof the left wheel 14L which are detected by the speed sensor is larger than v.SELECTED DRAWING: Figure 1
【課題】片側の車輪が移動できなくなったことが原因で旋回を行っている場合に、その旋回を抑制することを可能とする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1は、倒立制御により倒立状態を維持しつつ、右車輪14R及び左車輪14Lを駆動モータによって独立に駆動させ、右車輪14Rと左車輪14Lとの速度差に応じて旋回を行う。倒立二輪型移動体1は、倒立二輪型移動体1のピッチ方向の角度を計測する姿勢角センサと、右車輪14R及び左車輪14Lの速度を検出する速度センサと、姿勢角センサが計測した角度の絶対値が所定値θ0未満であり、かつ速度センサが検出した右車輪14Rの速度vRと左車輪14Lの速度vLの和の大きさがv0よりも大きい場合に、右車輪14Rと左車輪14Lのうち、検出した速度の大きさが大きい方の車輪の速度を減速させる制御部を備える。【選択図】図1
INVERTED TWO-WHEEL TYPE MOVING BODY
倒立二輪型移動体
2016-05-23
Patent
Electronic Resource
Japanese
INVERTED TWO-WHEEL TYPE MOVING BODY AND CONTROL METHOD THEREFOR
European Patent Office | 2016
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