Inverted pendulum vehicle

Patent metadata

Field	Value
Publication number	US-9522611-B2
Application number	US-201514644285-A
Country	US
Kind code	B2
Filing date	Mar 11, 2015
Priority date	Sep 18, 2012
Publication date	Dec 20, 2016
Grant date	Dec 20, 2016

Abstract

A tire angular velocity controller ( 211 ) is input with a difference between a target value of a rotational angular velocity of 0 for main wheels ( 11 ) and a rotational angular velocity of the main wheels ( 11 ), which is a differential value of a signal output from a main wheels rotary encoder ( 26 ). The tire angular velocity controller ( 211 ) calculates an inclination angle for the main body ( 10 ) that will cause the difference to become zero. In a second control mode, the calculated inclination angle is used as a target inclination angle and the difference between this target inclination angle and the inclination angle of the main body ( 10 ) at the present time input from an inclination angle sensor ( 20 ) is input to a main body inclination angle controller ( 212 ).

First claim

The invention claimed is:

1. A moving body comprising:
a wheel;
a main body for supporting the wheel rotatably in a pitch direction;
a driving control unit for controlling driving of the wheel;
angular change detection means for detecting an angular change of the main body in the pitch direction;
rotational angle detection means for detecting a rotational angle of the wheel; and
a storage unit for storing a program implementing a first control mode in which rotation of the wheel is controlled on the basis of an output of the angular change detection means such that the angular change of the main body becomes zero and such that an angle of the main body with respect to a vertical direction becomes a first angle, and a second control mode in which rotation of the wheel is controlled on the basis of an output of the rotational angle detection means such that a change in the rotational angle of the wheel becomes zero,
wherein the driving control unit implements the first control mode and the second control mode by reading out and expanding the program, and
the driving control unit includes switching means for switching between the first control mode and the second control mode,
wherein a part of the main body includes touch detection means for detecting whether a person is touching the main body,
wherein the switching means switches between the first control mode and the second control mode in accordance with an output of the touch detection means, and switches from the second control mode to the first control mode when a user is touching the grip.

2. The moving body according to claim 1 , further comprising
gradient detection means for detecting a ground gradient,
wherein furthermore a torque compensating for a gravitational torque due to the ground gradient detected by the gradient detection means is applied in the second control mode.

3. The moving body according to claim 1 , further comprising
gradient detection means for detecting a ground gradient,
wherein furthermore an angle of the main body to the vertical direction compensating for the gravitational torque due to the ground gradient detected by the gradient detection means is calculated and the first angle is corrected in the second control mode.

4. The moving body according to claim 1 , further comprising
gradient detection means for detecting a ground gradient,
wherein furthermore a torque compensating for a gravitational torque due to the ground gradient detected by the gradient detection means is applied in the second control mode.

5. The moving body according to claim 1 , further comprising
gradient detection means for detecting a ground gradient,
wherein furthermore an angle of the main body to the vertical direction compensating for the gravitational torque due to the ground gradient detected by the gradient detection means is calculated and the first angle is corrected in the second control mode.

6. The moving body according to claim 1 , the switching means switches from the first control mode to the second control mode when the user is not touching the grip.

7. The moving body according to claim 1 , the switching means switches from the second control mode to the first control mode when the user is touching the grip and with a condition where an inclination angle of the main body is within a certain range.

Assignees

• Murata Manufacturing Co

Inventors

• Tsuji Shigeru
• Shirato Kenichi
• Kubo Masayuki

Classifications

• B60L15/10 Primary

  for automatic control superimposed on human control to limit the acceleration of the vehicle, e.g. to prevent excessive motor current (electric devices for safety purposes B60L3/00) · CPC title

• G05D1/0891

  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

• Y02T10/72

  Electric energy management in electromobility · CPC title

• B60L2260/34

  Stabilising upright position of vehicles, e.g. of single axle vehicles · CPC title