Inverted pendulum type vehicle

Patent metadata

Field	Value
Publication number	US-9423795-B2
Application number	US-201414225489-A
Country	US
Kind code	B2
Filing date	Mar 26, 2014
Priority date	Mar 29, 2013
Publication date	Aug 23, 2016
Grant date	Aug 23, 2016

Abstract

An inverted pendulum type vehicle configured to enable a user to control the vehicle by selecting a single control mode, even while other control modes are not selected. One control mode out of plural control modes of the vehicle is selected based on a detection result of an inclination state of an occupant riding section by an inclination sensor that is a fundamental constituent of the vehicle. Motion of a first actuator device and a second actuator device is controlled according to the one control mode selected.

First claim

What is claimed is:

1. An inverted pendulum type vehicle, comprising:
moving motion units configured to be capable of moving in all directions on a floor surface;
actuator devices adapted to drive each of the moving motion units;
a base that incorporates the moving motion units and the actuator devices;
an occupant riding section incorporated into the base so as to be tiltable with respect to an imaginary line that extends orthogonally with respect to the floor surface;
state detection units adapted to detect a state of the occupant riding section; and
a control device capable of operating in a plurality of control modes, and being configured to control a motion of the actuator devices based on a detection result of the state of the occupant riding section by the state detection units,
wherein the control device is adapted to:
select one control mode out of the plurality of control modes of the inverted pendulum type vehicle based on the detection result of the state of the occupant riding section by the state detection units, and to:
control the motion of the actuator devices according to the one control mode;
said control device being configured to select the one control mode with a provision that the detection result of the state of the occupant riding section by the state detection units satisfies a designated condition and shows tilting of the occupant riding section to a designated direction.

2. The inverted pendulum type vehicle according to claim 1 , wherein the control device is configured to select another control mode out of the plurality of control modes based on a detection result other than the detection result of the state of the occupant riding section by the state detection units, which becomes a motion control basis of the actuator devices.

3. The inverted pendulum type vehicle according to claim 1 , wherein the control device is configured to select the one control mode based on the detection result of the state of the occupant riding section by the state detection units over a period from a start of the inverted pendulum type vehicle until when a designated period has elapsed.

4. The inverted pendulum type vehicle according to claim 1 , wherein
the control device is configured to select the one control mode with the designated condition that the detection result of the state of the occupant riding section by the state detection units shows a tilting of the occupant riding section to the designated direction by a designated angle or more.

5. The inverted pendulum type vehicle according to claim 4 , wherein the control device is configured to select another of the control modes that differs according to whether the designated direction is forward or rearward as the one control mode.

6. The inverted pendulum type vehicle according to claim 1 , wherein the control device is configured to select another of the control modes that differs according to whether the designated direction is forward or rearward as the one control mode.

7. The inverted pendulum type vehicle according to claim 1 , wherein the control device is configured to select the one control mode out of the plurality of control modes that include:
a beginner mode in which the motion of the actuator devices is controlled with low sensitivity with respect to steering operation of the inverted pendulum type vehicle by an occupant; and
an expert mode in which the motion of the actuator devices is controlled with sensitivity higher than that in the beginner mode with respect to steering operation of the inverted pendulum type vehicle by the occupant.

8. An inverted pendulum type vehicle, comprising:
moving motion units configured to be capable of moving in all directions on a floor surface;
actuator devices adapted to drive each of the moving motion units;
a base that incorporates the moving motion units and the actuator devices;
an occupant riding section incorporated into the base so as to be tiltable with respect to an imaginary line that extends orthogonally with respect to the floor surface;
state detection units adapted to detect a state of the occupant riding section; and
a control device capable of operating in a plurality of control modes, and being configured to control a motion of the actuator devices based on a detection result of the state of the occupant riding section by the state detection units,
wherein the control device is adapted to:
select one control mode out of the plurality of control modes of the inverted pendulum type vehicle based on the detection result of the state of the occupant riding section by the state detection units, and to;
control the motion of the actuator devices according to the one control mode;
an indicator disposed on a front side of the base; and
said control device being configured to display the one control mode on the indicator.

9. The inverted pendulum type vehicle according to claim 8 , wherein the indicator is formed of a plurality of monochrome LEDs or a multicolor LED, or a combination thereof; and
the control device is configured to execute control while differentiating a lighting condition of the plurality of monochrome LEDs or the multicolor LED, or a combination thereof according to difference in the one control mode.

Assignees

• Honda Motor Co Ltd

Inventors

• Araki Makoto
• Hasegawa Makoto
• Shirokura Shinya

Classifications

• B60L2200/12

  Bikes · CPC title

• B62K11/007

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

• B62H1/12

  using additional wheels · CPC title

• B60L2240/22

  Yaw angle · CPC title

• B62J45/4152

  for sensing longitudinal inclination of the cycle · CPC title