Inverted two-wheeled robot

• US 20080173493A1
• Filed: 04/27/2007
• Published: 07/24/2008
• Est. Priority Date: 07/26/2005
• Status: Active Grant

• Current Assignee: Panasonic Corporation (Panasonic Holdings Corporation)
• Original Assignee: Panasonic Corporation (Panasonic Holdings Corporation)
• Inventors: Adachi, Yuji
• Granted Patent: US 7,635,041 B2
• Time in Patent Office: Days
• US Class Current: 180/218
• CPC Class Codes: B60L 15/20 for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
• CPC Class Codes: B60L 2200/16 Single-axle vehicles
• CPC Class Codes: B60L 2220/46 Wheel motors, i.e. motor connected to only one wheel
• CPC Class Codes: B60L 2240/12 Speed
• CPC Class Codes: B60L 2240/20 angular
• CPC Class Codes: B60L 2240/26 Vehicle weight
• CPC Class Codes: B60L 2240/423 Torque
• CPC Class Codes: B60L 2260/34 Stabilising upright position of vehicles, e.g. of single axle vehicles
• CPC Class Codes: B60L 2260/42 by adaptive correction
• CPC Class Codes: B62D 37/00 Stabilising vehicle bodies without controlling suspension arrangements
• CPC Class Codes: B62D 51/02 the driver standing in the vehicle
• CPC Class Codes: B62D 61/00 Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
• CPC Class Codes: B62K 11/007 Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
• CPC Class Codes: B62K 17/00 Cycles not otherwise provided for
• CPC Class Codes: G05D 1/0891 specially adapted for land vehicles
• CPC Class Codes: Y02T 10/64 Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility

Abstract

A two-wheeled inverted robot of the present invention includes a body, two wheels coaxially arranged on the body, a drive device for driving each of the wheels, first state detection means for detecting at least one of an inclination angle and an inclination angular speed of the body, second state detection means for detecting at least one of a rotation angle and a rotational angular speed of the wheel, body constraint recognizing means for detecting whether or not body rotation is constrained, and control means for determining a command value to the drive device. Based on the detection result by the body constraint recognizing means, the control means determines the command value for changing a ratio of a torque contributing to the body rotation.

Claims

1. A two-wheeled inverted robot comprising:

a body;

two wheels which are coaxially arranged on the body;

a drive device for driving the wheels respectively;

a first state detection means for detecting at least one of an inclination angle and an inclination angular speed of the body;

a second state detection means for detecting at least one of a rotation angle and a rotational angular speed of the wheel;

a body constraint recognizing means for receiving information detected by the first state detection means or the second state detection means and detecting whether or not rotation of the body in an inclination direction is constrained; and

a control means for determining a command value to the drive device, changing a plurality of running control methods by the determined command value to drive the drive device, and thereby performing running control of the body,

wherein the body includes at least one contact sensor for detecting a contact force to the body, and the body constraint recognizing means receives contact information detected by the contact sensor and information detected by the first or second state detection means to recognize a body constraint state, and the control means determines, based on detection result of the body constraint recognizing means, the command value to the drive device for changing the plurality of running control methods, the drive device is driven by the determined command value, and the running control of the body is performed to maintain a running state.

4. A two-wheeled inverted robot according to claim 1, wherein an integration value of an error of the rotational angular speed of the wheel is reset when the body is constrained.

6. A two-wheeled inverted robot according to claim 1, wherein during the body constraint, feedback to the inclination angle and the inclination angular speed of the body is stopped, and an integration value of an error of the rotational angular speed of the wheel is reset when the body is constrained.

7. A two-wheeled inverted robot according to claim 1, wherein an integration value of an error of the rotational angular speed of the wheel is reset when the body is constrained.

2. A two-wheeled inverted robot comprising:

a body;

two wheels which are coaxially arranged on the body;

a drive device for driving the wheels respectively;

a first state detection means for detecting at least one of an inclination angle and an inclination angular speed of the body;

a second state detection means for detecting at least one of a rotation angle and a rotational angular speed of the wheel;

a body constraint recognizing means for receiving information detected by the first state detection means or the second state detection means and detecting whether or not rotation of the body in an inclination direction is constrained; and

a control means for determining a command value to the drive device, changing a plurality of running control methods by the determined command value to drive the drive device, and thereby performing running control of the body,

wherein the control means determines, based on detection result of the body constraint recognizing means, the command value to the drive device for changing the plurality of running control methods, the drive device is driven by the determined command value, the running control of the body is performed to maintain a running state, and during the body constraint, the control method is changed to a control method in which a torque generated by a constraint force to the body is added to torques for rotating and driving the wheels.

5. A two-wheeled inverted robot according to claim 2, wherein an integration value of an error of the rotational angular speed of the wheel is reset when the body is constrained.

3. A two-wheeled inverted robot comprising:

a body;

two wheels which are coaxially arranged on the body;

a drive device for driving the wheels respectively;

a first state detection means for detecting at least one of an inclination angle and an inclination angular speed of the body;

a second state detection means for detecting at least one of a rotation angle and a rotational angular speed of the wheel;

a body constraint recognizing means for receiving information detected by the first state detection means or the second state detection means and detecting whether or not rotation of the body in an inclination direction is constrained; and

a control means for determining a command value to the drive device, changing a plurality of running control methods by the determined command value to drive the drive device, and thereby performing running control of the body,

wherein the body includes at least one contact sensor for detecting a contact force to the body, the body constraint recognizing means receives contact information detected by the contact sensor and information detected by the first or second state detection means to recognize a body constraint state, the control means determines, based on detection result of the body constraint recognizing means, the command value to the drive device for changing the plurality of running control methods, the drive device is driven by the determined command value, thereby the running control of the body is performed to maintain a running state, and during the body constraint, the control method is changed to a control method in which a torque generated by a constraint force to the body is added to torques for rotating and driving the wheels.