Moving body control device, moving body control method, and control program

Patent metadata

Field	Value
Publication number	US-10005465-B2
Application number	US-201414784661-A
Country	US
Kind code	B2
Filing date	Apr 9, 2014
Priority date	Apr 18, 2013
Publication date	Jun 26, 2018
Grant date	Jun 26, 2018

Abstract

A moving body control device includes an attitude angle detection section configured to detect ah attitude angle of an inverted moving body, a command value generation section configured to generate an attitude angular speed command value of the inverted moving body according to the attitude angle detected by the attitude angle detection section, a control section configured to control drive of the inverted moving body according to the attitude angular speed command value generated by the command value generation section, a determination section configured to make a determination whether or not the inverted moving body travels in a constant direction for a prescribed time or longer, and an acceleration-deceleration command section configured to increase or decrease the attitude angular speed command value generated by the command value generation section when the determination section makes a determination that travel is performed in the constant direction for the prescribed time or longer.

First claim

The invention claimed is:

1. A moving body control device comprising:
an attitude sensor configured to detect an attitude angle of an inverted moving body; and
a computer programmed to implement
a command value generation section configured to generate a command value of the inverted moving body according to the attitude angle that is detected by the attitude angle detection section,
a control section configured to control drive of the inverted moving body according to the command value that is generated by the command value generation section,
a determination section configured to make a determination whether or not the inverted moving body travels in a constant direction for a prescribed time or longer,
an acceleration-deceleration command section configured to adjust the command value that is generated by the command value generation section when the determination section makes a determination that travel is performed in the constant direction for the prescribed time or longer, and
an adder section, wherein
the acceleration-deceleration command section is configured to generate a sinusoidal acceleration-deceleration command value,
the adder section is configured to add the sinusoidal acceleration-deceleration command value that is generated by the acceleration-deceleration command section to the command value that is generated by the command value generation section,
the acceleration-deceleration command section is configured to adjust the command value that is generated by the command value generation section so that an average moving speed of a center of gravity of the inverted moving body becomes constant when the determination section makes a determination that travel is performed in the constant direction for the prescribed time or longer, and
the acceleration-deceleration command section is configured to adjust the command value that is generated by the command value generation section and adjust a moving speed of a driving wheel of the inverted moving body to change an inclination of the inverted moving body with swinging movement when the determination section makes a determination that travel is performed in the constant direction for the prescribed time or longer so that a timing when the inverted moving body inclines rearward and can easily be braked is periodically produced.

2. The moving body control device according to claim 1 , wherein the acceleration-deceleration command section is configured to increase or decrease a period of the sinusoidal acceleration-deceleration command value according to information of an environment where the inverted moving body moves.

3. The moving body control device according to claim 2 , wherein the acceleration-deceleration command section is configured to decrease the period of the sinusoidal acceleration-deceleration command value when a determination that the inverted moving body moves in an indoor environment is made, and to increase the period of the sinusoidal acceleration-deceleration command value when a determination that the inverted moving body moves in an outdoor environment is made.

4. The moving body control device according to claim 1 , further comprising a storage section configured to store travel information of the inverted moving body, wherein the acceleration-deceleration command section is configured to increase or decrease a period of the sinusoidal acceleration-deceleration command value according to travel information of the inverted moving body that is stored in the storage section.

5. The moving body control device according to claim 4 , wherein the acceleration-deceleration command section is configured to decrease the period of the sinusoidal acceleration-deceleration command value when a fluctuation in the travel information of the inverted moving body is large, and to increase the period of the sinusoidal acceleration-deceleration command value when the fluctuation in the travel information of the inverted moving body is small.

6. The moving body control device according to claim 4 , wherein the travel information of the inverted moving body includes at least one of the attitude angle, an attitude angular speed, an attitude angular acceleration, a moving distance, a moving speed, and a moving acceleration of the inverted moving body.

7. The moving body control device according to claim 1 , wherein the acceleration-deceleration command section is configured to adjust the command value that is generated by the command value generation section when the determination section makes a determination that forward travel, reverse travel, or a turn is performed in the constant direction for the prescribed time or longer.

8. The moving body control device according to claim 7 , further comprising:
a step section on which a rider rides and that is configured to incline in a right-left direction; and
a drive section configured to incline the step section in the right-left direction, wherein
the acceleration-deceleration command section is configured to adjust the command value that is generated by the command value generation section and controls the drive section to control the inclination of the step section when the determination section makes a determination that the turn is performed in the constant direction for the prescribed time or longer.

9. The moving body control device according to claim 8 , wherein the acceleration-deceleration command section is configured to control the drive section to decrease an inclination angle of the step section to an outside of the turn when the generated sinusoidal acceleration-deceleration command value is a negative value, and to control the drive section to increase the inclination angle of the step section to an inside of the turn when the generated sinusoidal acceleration-deceleration command value is a positive value.

10. A moving body control method comprising:
detecting an attitude angle of an inverted moving body;
generating a command value of the inverted moving body according to the detected attitude angle;
controlling drive of the inverted moving body according to the generated command value;
determining whether or not the inverted moving body travels in a constant direction for a prescribed time or longer;
adjusting the generated command value when a determination that travel is performed in the constant direction for the prescribed time or longer is made;
generating a sinusoidal acceleration-deceleration command value;
adding the sinusoidal acceleration-deceleration command value to the command value:
adjusting the command value so that an average moving speed of a center of gravity of the inverted moving body becomes constant when it is determined that travel is performed in the constant direction for the prescribed time or longer; and
adjusting the command value that is generated by the command value generation section and adjusting a moving speed of a driving wheel of the inverted moving body to change an inclination of the inverted moving body with swinging movement when the determination section makes a determination that travel is performed in the constant direction for the prescribed time or longer so that a timing when the inverted moving body inclines rearward and can easily be braked is periodically produced.

Assignees

• Kondo Hideki
• Toyota Motor Co Ltd

Inventors

• Kondo Hideki

Classifications

• B60W30/18181 Primary

  Propulsion control with common controlling member for different functions · CPC title

• B60W40/11

  Pitch movement · CPC title

• G05D1/0891 Primary

  specially adapted for land vehicles · CPC title

• B62K11/007

  Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider · CPC title