PROBLEM TO BE SOLVED: To solve a problem of conventional inverted two-wheel type moving bodies that slip state is incorrectly determined as rotation abnormality.SOLUTION: An inverted two-wheel type moving body comprises: an actual rotation speed acquisition part 31 for detecting rotational abnormality of right and left wheels on the basis of measured rotation speed values respectively acquired from the right and left wheels and instructed rotation speed values respectively applied to the right and left wheels; and a direction displacement amount acquisition part 32 for determining abnormality in direction displacement amounts of the inverted two-wheel type moving body, and send a stop instruction to a target move amount determination part 30 in response to determination that the abnormality has occurred in the direction displacement amount of the inverted two-wheel type moving body. The actual rotation speed acquisition part 31 determines, for each of the right and the left wheels, that the rotational abnormality has occurred when an error difference value indicating an absolute value of a wheel error difference indicating a difference between the measured rotation speed value and the instructed rotation speed value exceeds a first threshold value. The direction displacement amount acquisition part 32 sends the stop instruction to the target move amount determination part 30 when a difference between the error difference value and the actual direction displacement amount, which is the measured direction displacement amount of the inverted two-wheel type moving body exceeds a predetermined second threshold value.SELECTED DRAWING: Figure 2
【課題】従来の倒立二輪型移動体は、スリップ状態を回転異常と誤検知する問題があった。【解決手段】本発明の倒立二輪型移動体は、左右輪から個別に取得した回転数測定値と、左右輪に対して別々に与えられる回転数指令値と、に基づき左右輪の異常回転を検出する実回転数取得部31と、倒立二輪型移動体の方向変位量の異常を判断し、倒立二輪型移動体の方向変位量に異常が発生したと判断した場合に目標移動量決定部30に停止指示を行う方向変位量取得部32と、を有し、実回転数取得部31は、左右輪それぞれについて、回転数測定値と回転数指令値との差を示す車輪誤差の差の絶対値を示す誤差相違量が第1の閾値を超えた場合に異常回転を検出し、方向変位量取得部32は、誤差相違量と、倒立二輪型移動体の方向変位量を計測した実方向変位量と、の差が予め定めた第2の閾値を超えた場合に、目標移動量決定部30に停止指示を行う。【選択図】図2
INVERTED TWO-WHEEL TYPE MOVING BODY
倒立二輪型移動体
2018-03-29
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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