Inverted vehicle and control method thereof

Patent metadata

Field	Value
Publication number	US-9745004-B2
Application number	US-201414888550-A
Country	US
Kind code	B2
Filing date	May 2, 2014
Priority date	May 7, 2013
Publication date	Aug 29, 2017
Grant date	Aug 29, 2017

Abstract

An inverted vehicle and control method thereof are provided. The inverted vehicle may include a main body having two wheels rotatably supported by the main body and driven by a driver. A load distribution detector may detect a distribution of load received by the main body due to the rider's weight. A computer may compute a center position of the load's distribution. The inverted vehicle may also include an operating bar supported by the main body and operated so as to be inclined by the rider. A posture detector may be used to detect a posture of the operating bar. The inverted vehicle may further include a central processing unit that sets a target travel velocity on the basis of the center position and the posture of the operating bar. Furthermore, a drive controller may control the driver on the basis of the target travel velocity.

First claim

The invention claimed is:

1. An inverted vehicle comprising:
a main body;
two wheels rotatably supported to the main body;
a driver that drives the two wheels rotatably;
a load distribution detector that detects a distribution of load received by the main body due to a weight of a rider riding on the main body in a standing posture;
a center position computer that computes a center position of the load distribution;
an operating bar that is supported to the main body and that is operated so as to be included by the rider;
a posture detector that detects a posture of the operating bar;
a central processing unit that causes a program to execute setting of a target travel velocity on the basis of the center position and the posture of the operating bar; and
a drive controller that controls the driver on the basis of the target travel velocity,
wherein the central processing unit determines whether the load distribution detector and the posture detector are operating normally by comparing the center position and a posture of the operating bar with each other.

2. The inverted vehicle according to claim 1 , wherein
when the center position moves toward a forward direction side, the central processing unit causes the program to execute setting of the target travel velocity to the forward direction side as compared to the target travel velocity when the center position does not move toward the forward direction side.

3. The inverted vehicle according to claim 1 , wherein,
when the center position moves toward a backward direction side, the central processing unit causes the program to execute setting of the travel velocity to the backward direction side as compared to the target travel velocity when the center position does not move toward the backward direction side.

4. The inverted vehicle according to claim 1 , further comprising:
a load detector that detects the load.

5. The inverted vehicle according to claim 4 , comprising:
wherein the central processing unit determines whether the load is appropriate, and
the drive controller does not start the inverted vehicle when the central processing unit determines that the load is not appropriate.

6. The inverted vehicle according to claim 4 , wherein
the central processing unit determines whether the load has varied, and
the drive controller causes travel of the inverted vehicle to decelerate when the central processing determines that the load has varied during travel of the inverted vehicle.

7. The inverted vehicle according to claim 4 , wherein
the central processing unit determines whether the load has varied, and
the drive controller causes travel of the inverted vehicle to stop when the central processing unit determines that the load has varied during travel of the inverted vehicle.

8. The inverted vehicle according to claim 1 , wherein
the operating bar is operated so as to be inclined forward or backward by the rider, and
the central processing unit causes the program to execute setting of the target travel velocity to the forward direction side, if the operating bar is operated so as to topple toward a forward direction side.

Assignees

• Mori Makoto
• Oishi Kouta
• Asai Hiroyuki
• Toyota Motor Co Ltd

Inventors

• Mori Makoto
• Oishi Kouta
• Asai Hiroyuki

Classifications

• B62D51/001 Primary

  characterised by the vehicle control device (mechanical features of control devices in general G05G; arrangements of vehicle control devices in general B60K20/00, B60K23/00, B60K26/00) · CPC title

• B62K11/007 Primary

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

• B62D51/02

  the driver standing in the vehicle · CPC title