CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE
First Claim
1. A control device of an inverted pendulum type vehicle having a traveling motion unit capable of moving on a floor surface, an actuator for driving the traveling motion unit, a base body assembled with the traveling motion unit and the actuator, and a payload supporting part for an occupant assembled to the base body, comprising:
- a tilt angle measuring element configured to generate an output according to an actual tilt angle of the base body;
an external force detector configured to detect an external force acting on a holding member disposed in the base body or the payload support part; and
a travelling motion unit controller configured to determine a manipulated variable for control which is configured to define a driving power to be applied to the travelling motion unit according to the external force detected by the external force detector while performing a control process to maintain a measured value of the tilt angle of the base body at a desired tilt angle of a predefined value, and to control the travelling motion of the travelling motion unit via the actuator according to the determined manipulated variable for control.
1 Assignment
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Accused Products
Abstract
Provided is a controller for an inverted pendulum type vehicle capable of moving the vehicle smoothly. The inverted pendulum type vehicle 1 is provided with a grip 18 at a upper end portion of a base body 9. A grip-acting external force F acting on the grip 18 is detected by a force sensor 55. According to the detected grip-acting external force F, a required center-of-gravity velocity generator 74 determines required center-of-gravity velocities Vb_x_aim and Vb_y_aim, and on the basis thereof, a traveling motion unit controller determines a manipulated variable for control.
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Citations
5 Claims
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1. A control device of an inverted pendulum type vehicle having a traveling motion unit capable of moving on a floor surface, an actuator for driving the traveling motion unit, a base body assembled with the traveling motion unit and the actuator, and a payload supporting part for an occupant assembled to the base body, comprising:
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a tilt angle measuring element configured to generate an output according to an actual tilt angle of the base body; an external force detector configured to detect an external force acting on a holding member disposed in the base body or the payload support part; and a travelling motion unit controller configured to determine a manipulated variable for control which is configured to define a driving power to be applied to the travelling motion unit according to the external force detected by the external force detector while performing a control process to maintain a measured value of the tilt angle of the base body at a desired tilt angle of a predefined value, and to control the travelling motion of the travelling motion unit via the actuator according to the determined manipulated variable for control. - View Dependent Claims (2, 3, 4, 5)
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Specification