INVERTED PENDULUM TYPE MOVING BODY

• US 20110067936A1
• Filed: 09/17/2010
• Published: 03/24/2011
• Est. Priority Date: 09/18/2009
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: AKIMOTO, Kazushi, TAKENAKA, Toru
• Granted Patent: US 8,567,535 B2
• Time in Patent Office: Days
• US Class Current: 180/21
• CPC Class Codes: B60L 2200/14 Vehicles with one wheel only
• CPC Class Codes: B60L 2240/18 lateral
• CPC Class Codes: B60L 2240/20 angular
• CPC Class Codes: B60L 2260/34 Stabilising upright position of vehicles, e.g. of single axle vehicles
• CPC Class Codes: B62K 1/00 Unicycles
• CPC Class Codes: B62K 11/007 Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider

Abstract

An inverted pendulum type moving body comprising: a base body; a moving behavior unit movable in all directions on a floor surface; an actuator driving the moving behavior unit; and a control unit controlling the actuator so that at least a tilt angle of the base body equals a predetermined target angle, the control unit also controlling the actuator so that the moving behavior unit moves along a predetermined trajectory.

Claims

1. An inverted pendulum type moving body comprising:

a base body;

a moving behavior unit movable in all directions on a floor surface;

an actuator driving the moving behavior unit; and

a control unit controlling the actuator so that at least a tilt angle of the base body equals a predetermined target angle, the control unit also controlling the actuator so that the moving behavior unit moves along a predetermined trajectory.

2. The inverted pendulum type moving body according to claim 1, wherein when the moving behavior unit is deviating from the predetermined trajectory, the control unit controls the actuator so that the moving behavior unit is translated in a direction orthogonal to the predetermined trajectory, and so that the moving behavior unit is placed onto the predetermined trajectory.

3. The inverted pendulum type moving body according to claim 1 further comprising:

a cord member attaching member attachable to a cord member; and

a tensional force sensor outputting a signal according to a tensional force of the cord member attached to the cord member attaching member and a signal indicating a direction in which the tensional force is applied, wherein

the control unit controls the actuator based on the signal according to the tensional force and based on the signal indicating a direction in which the tensional force is applied, so that the tensional force acting on the base body through the cord member attaching member balances out a force acting on the cord member due to a tilting of the base body.

4. The inverted pendulum type moving body according to claim 2 further comprising:

a cord member attaching member attachable to a cord member; and

a tensional force sensor outputting a signal according to a tensional force of the cord member attached to the cord member attaching member and a signal indicating a direction in which the tensional force is applied, wherein

the control unit controls the actuator based on the signal according to the tensional force and based on the signal indicating a direction in which the tensional force is applied, so that the tensional force acting on the base body through the cord member attaching member balances out a force acting on the cord member due to a tilting of the base body.

5. The inverted pendulum type moving body according to claim 1 further comprising:

a position calculator computing a position of an another moving body based on a signal according to a tensional force and based on a direction in which the tensional force is applied; and

a memory unit storing a plurality of different positions computed by the position calculator as the predetermined trajectory, wherein

the control unit controls the actuator so that the moving behavior unit moves along the predetermined trajectory stored in the memory unit.

6. The inverted pendulum type moving body according to claim 2 further comprising:

a position calculator computing a position of an another moving body based on a signal according to a tensional force and based on a direction in which the tensional force is applied; and

a memory unit storing a plurality of different positions computed by the position calculator as the predetermined trajectory, wherein

the control unit controls the actuator so that the moving behavior unit moves along the predetermined trajectory stored in the memory unit.

7. The inverted pendulum type moving body according to claim 3 further comprising:

a position calculator computing a position of an another moving body based on a signal according to a tensional force and based on a direction in which the tensional force is applied; and

a memory unit storing a plurality of different positions computed by the position calculator as the predetermined trajectory, wherein

the control unit controls the actuator so that the moving behavior unit moves along the predetermined trajectory stored in the memory unit.

8. The inverted pendulum type moving body according to claim 4 further comprising:

a position calculator computing a position of an another moving body based on a signal according to a tensional force and based on a direction in which the tensional force is applied; and

a memory unit storing a plurality of different positions computed by the position calculator as the predetermined trajectory, wherein

the control unit controls the actuator so that the moving behavior unit moves along the predetermined trajectory stored in the memory unit.