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INVERTED WHEEL TYPE MOVING BODY AND METHOD OF CONTROLLING THE SAME

  • US 20110010066A1
  • Filed: 06/24/2008
  • Published: 01/13/2011
  • Est. Priority Date: 07/09/2007
  • Status: Active Grant
First Claim
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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:

  • 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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