PROBLEM TO BE SOLVED: To provide a calibration method of a gyro sensor for an inverted movable body by which calibration work of a gyro sensor can be easily performed.SOLUTION: A calibration method of a gyro sensor for an inverted movable body comprises: a process in which whether or not an inverted movable body 1 is an empty car is determined; a process in which in the case that the inverted movable body 1 is an empty car, the inverted movable body 1 is turned on a road surface which is a calibration area; a process in which an inclination angle of a road surface is calculated on the basis of a relationship between a peak torque value of a drive wheel 4 in the inverted movable body 1 when the inverted movable body 1 is turned on the road surface, a previously measured inclination angle and a torque value of the drive wheel 4 at said inclination angle; and a process in which a calibration value of a gyro sensor 52 is calculated on the basis of a detection value of the gyro sensor 52 at a turning angle of the inverted movable body in which the torque value of the drive wheel 4 becomes substantially 0 N m when turning the inverted movable body 1 on the road surface, and the calculated inclination angle of the road surface.SELECTED DRAWING: Figure 4
【課題】簡単にジャイロセンサの校正作業を行うことができる倒立移動体のジャイロセンサの校正方法を提供する。【解決手段】本発明の一形態に係る倒立移動体のジャイロセンサの校正方法は、倒立移動体1が空車か否かを判定する工程と、倒立移動体1が空車の場合、倒立移動体1を校正エリアである路面で旋回させる工程と、倒立移動体1を路面で旋回させた際の当該倒立移動体1における駆動車輪4のピークトルク値と、予め測定された傾斜角度と当該傾斜角度での駆動車輪4のトルク値との関係と、に基づいて、路面の傾斜角度を算出する工程と、倒立移動体1を路面で旋回させた際に駆動車輪4のトルク値がおよそ0N・mになる当該倒立移動体の旋回角度でのジャイロセンサ52の検出値と、算出した路面の傾斜角度と、に基づいて、ジャイロセンサ52の校正値を算出する工程と、を備える。【選択図】図4
CALIBRATION METHOD OF GYRO SENSOR FOR INVERTED MOVABLE BODY
倒立移動体のジャイロセンサの校正方法
2017-03-02
Patent
Electronic Resource
Japanese
IPC: | B62K Fahrräder , CYCLES |