PROBLEM TO BE SOLVED: To make an occupant and an assistant grasp how many degrees a traveling state of an inverted two-wheel moving body driven by a motor whose limit performance is sequentially changed approximates a fall.SOLUTION: An inverted two-wheel moving body comprises: a detection part 8 for detecting a state of a motor; a motor output derivation device 12 which derives an output of the motor; a limit output calculation part 11 which calculates a limit output at which the output of the motor is saturated; a ratio calculation part 13 which calculates a ratio of the motor output with respect to the limit output; a correction part 15 which determines whether or not the correction of the ratio of the motor output is necessary according to one of a time change amount of the ratio of the motor output, a time change amount of the motor output, a state of an occupant, and an estimation result of an operation intention of an occupant, and when the correction is determined to be necessary, corrects the ratio of the motor output; and a notification part 10 which notifies the surrounds of a ratio which is outputted from the correction part 15 by expressing it by at least one of display, a sound, light and vibration.SELECTED DRAWING: Figure 2
【課題】限界性能が逐次変化するモータにより駆動される倒立二輪型移動体の走行状態が、どの程度転倒に近いかを搭乗者や補助者に把握させること。【解決手段】倒立二輪型移動体は、モータの状態を検出する検出部8と、モータの出力を導出するモータ出力導出部12と、モータの出力が飽和する限界出力を算出する限界出力算出部11と、限界出力に対する、モータ出力の割合を算出する割合算出部13と、モータ出力の割合の時間変化量、モータ出力の時間変化量、搭乗者の状態、及び搭乗者の操作意図の推定結果の何れかに応じて、モータ出力の割合の補正が必要であるか否かを判定し、必要であると判定した場合にモータ出力の割合を補正する補正部15と、補正部15から出力される割合を、表示、音、光、及び振動の少なくとも何れかによって表現することにより周囲に報知する報知部10と、を備える。【選択図】図2
INVERTED TWO-WHEEL MOVING BODY
倒立二輪型移動体
2017-06-01
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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