INVERTED WHEEL TYPE MOVING BODY AND METHOD OF CONTROLLING THE SAME
First Claim
1. An inverted wheel type moving body that moves in accordance with command input according to manipulation by a manipulator and transports a transportation object, the inverted wheel type moving body comprising:
- a chassis rotationally supporting a wheel;
a first drive unit rotationally driving the wheel;
a body provided to mount the transportation object and rotatably supported on the chassis through a support member;
a sensor provided to judge whether the transportation object dismounts from the body, output of the sensor varying depending on states of the transportation object on the body;
a second drive unit performing overturn preventing operation; and
a control unit controlling the first drive unit to reduce velocity of the inverted wheel type moving body upon judgment that the transportation object dismounts based on the output from the sensor when the inverted wheel type moving body travels faster than a certain velocity, whereinthe control unit controls the second drive unit to perform the overturn preventing operation after an absolute value of velocity of the inverted wheel type moving body is lower than a threshold value when it is judged that the transportation object dismounts, and after the second drive unit performs the overturn preventing operation, the control unit sets drive torque of the wheel to 0 so as to stop the inverted wheel type moving body travelling at a velocity lower than the threshold value.
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Accused Products
Abstract
An inverted wheel type moving body that can enhance convenience and a method of controlling the same. The inverted wheel type moving body includes a right chassis and a left chassis rotationally supporting a right driving wheel and a left driving wheel, motors rotationally driving the right driving wheel and the left driving wheel, a body rotatably supported on the right chassis and the left chassis through a right arm and a left arm, a pressure-sensitive sensor provided to judge whether a transportation object dismounts, and a control unit controlling the motors to reduce velocity upon judgment that the transportation object dismounts based on the output from the pressure-sensitive sensor when the moving body travels faster than a certain velocity, in which overturn preventing operation is executed after an absolute value of the velocity is lower than a threshold value.
28 Citations
20 Claims
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1. An inverted wheel type moving body that moves in accordance with command input according to manipulation by a manipulator and transports a transportation object, the inverted wheel type moving body comprising:
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a chassis rotationally supporting a wheel; a first drive unit rotationally driving the wheel; a body provided to mount the transportation object and rotatably supported on the chassis through a support member; a sensor provided to judge whether the transportation object dismounts from the body, output of the sensor varying depending on states of the transportation object on the body; a second drive unit performing overturn preventing operation; and a control unit controlling the first drive unit to reduce velocity of the inverted wheel type moving body upon judgment that the transportation object dismounts based on the output from the sensor when the inverted wheel type moving body travels faster than a certain velocity, wherein the control unit controls the second drive unit to perform the overturn preventing operation after an absolute value of velocity of the inverted wheel type moving body is lower than a threshold value when it is judged that the transportation object dismounts, and after the second drive unit performs the overturn preventing operation, the control unit sets drive torque of the wheel to 0 so as to stop the inverted wheel type moving body travelling at a velocity lower than the threshold value. - View Dependent Claims (2, 4, 5, 6, 7)
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3. An inverted wheel type moving body that moves in accordance with command input according to manipulation by a manipulator and transports a transportation object, the inverted wheel type moving body comprising:
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a chassis rotationally supporting a wheel; a first drive unit rotationally driving the wheel; a body provided to mount the transportation object and rotatably supported on the chassis through a support member; a sensor provided to judge whether the transportation object dismounts from the body, output of the sensor varying depending on states of the transportation object on the body; a second drive unit performing overturn preventing operation; and a control unit judging that the transportation object dismounts based on the output from the sensor and the command input and controlling the second drive unit to execute the overturn preventing operation when the inverted wheel type moving body travels at or less than a certain velocity, the control unit setting drive torque of the wheel to 0 after the second drive unit executes the overturn preventing operation so as to stop the inverted wheel type moving body travelling at a velocity at or lower than the certain velocity. - View Dependent Claims (15, 16, 17)
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8. A method of controlling an inverted wheel type moving body, the inverted wheel type moving body comprising:
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a chassis rotationally supporting a wheel; a first drive unit rotationally driving the wheel; a body provided to mount the transportation object and rotatably supported on the chassis through a support member; a sensor provided to judge whether the transportation object dismounts from the body, output of the sensor varying depending on states of the transportation object on the body; and a second drive unit performing overturn preventing operation, the method comprising; a step of judging whether the inverted wheel type moving body travels faster than a certain velocity; a step of judging whether the transportation object dismounts based on the output from the sensor when the body travels faster than the certain velocity; a step of reducing velocity of the inverted wheel type moving body upon judgment that the transportation object dismounts; a step of controlling the second drive unit to execute the overturn preventing operation after an absolute value of velocity of the inverted wheel type moving body is lower than a threshold value; and a step of setting drive torque of the wheel to 0 after the second drive unit executes the overturn preventing operation so as to stop the inverted wheel type moving body travelling at a velocity lower than the threshold value. - View Dependent Claims (9, 11, 12, 13)
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10. A method of controlling an inverted wheel type moving body, the inverted wheel type moving body comprising:
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a chassis rotationally supporting a wheel; a first drive unit rotationally driving the wheel; a body provided to mount the transportation object and rotatably supported on the chassis through a support member; a sensor provided to judge whether the transportation object dismounts from the body, output of the sensor varying depending on states of the transportation object on the body; and a second drive unit performing overturn preventing operation, the inverted wheel type moving body moving in accordance with command input according to manipulation by a manipulator and transporting a transportation object, the method comprising; a step of judging whether the inverted wheel type moving body travels faster than a certain velocity; steps of judging that the transportation object dismounts based on the output from the sensor and the command input and controlling the second drive unit to execute the overturn preventing operation when the inverted wheel type moving body travels at or less than the certain velocity; and a step of setting drive torque of the wheel to 0 after the second drive unit performs the overturn preventing operation so as to stop the inverted wheel type moving body travelling at a velocity at or lower than the certain velocity. - View Dependent Claims (14, 18, 19, 20)
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Specification