METHOD OF ESTIMATING MOUNTING ANGLE ERROR OF GYROSCOPES BY USING A TURNING DEVICE, AND CORRESPONDING TURNING DEVICE

• US 20140330507A1
• Filed: 11/29/2012
• Published: 11/06/2014
• Est. Priority Date: 12/02/2011
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Oikawa, Susumu
• Granted Patent: US 9,321,498 B2
• Time in Patent Office: Days
• US Class Current: 701/124
• CPC Class Codes: B62J 45/4152 for sensing longitudinal inclination of the cycle
• CPC Class Codes: B62K 11/007 Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
• CPC Class Codes: G01C 21/18 Stabilised platforms, e.g. by gyroscope
• CPC Class Codes: G01C 25/005 initial alignment, calibration or starting-up of inertial devices
• CPC Class Codes: G05D 1/0891 specially adapted for land vehicles

Abstract

Bias values of pitch axis and roll axis angular velocity sensors in a stationary state where a reference yaw axis of a two-wheeled inverted pendulum vehicle body is stationary in parallel with a vertical direction are acquired. Bias values of the pitch axis and roll axis angular velocity sensors in a turning state where a two-wheeled inverted pendulum vehicle is turned at a predetermined turning angular velocity in a state where the reference yaw axis of the two-wheeled inverted pendulum vehicle body remains parallel to the vertical direction are acquired. Mounting angle errors of the pitch axis and roll axis angular velocity sensors with respect to the two-wheeled inverted pendulum vehicle body are estimated on the basis of the bias values of the sensors in the stationary state, the bias values of the sensors in the turning state and the predetermined turning angular velocity.

Claims

1. A method of estimating, in an inverted pendulum mobile unit that includes an inverted pendulum mobile unit body, a pitch axis angular velocity sensor and a roll axis angular velocity sensor, a mounting angle error of the pitch axis angular velocity sensor and a mounting angle error of the roll axis angular velocity sensor with respect to an inverted pendulum mobile unit body, comprising:

acquiring a bias value of the pitch axis angular velocity sensor and a bias value of the roll axis angular velocity sensor in a stationary state where a reference yaw axis of the inverted pendulum mobile unit body is stationary in a vertical direction by acquiring an output from the pitch axis angular velocity sensor and an output from the roll axis angular velocity sensor in the stationary state;

acquiring a bias value of the pitch axis angular velocity sensor and a bias value of the roll axis angular velocity sensor in a turning state where the inverted pendulum mobile unit is turned at a predetermined turning angular velocity in a state where the reference yaw axis of the inverted pendulum mobile unit body remains parallel to the vertical direction by acquiring an output from the pitch axis angular velocity sensor and an output from the roll axis angular velocity sensor in the turning state; and

estimating the mounting angle error of the pitch axis angular velocity sensor and the mounting angle error of the roll axis angular velocity sensor with respect to the inverted pendulum mobile unit body on the basis of the bias values of the sensors in the stationary state, the bias values of the sensors in the turning state and the predetermined turning angular velocity.

2. The method according to claim 1, wherein

in the turning state, the mobile unit body is turned on the spot while being held horizontally.

3. The method according to claim 2, wherein

the inverted pendulum mobile unit is turned on a pivot in an inverted state.

4. The method according to claim 1, wherein

in the stationary state, the output from the pitch axis angular velocity sensor and the output from the roll axis angular velocity sensor each are averaged for a predetermined period of time or longer.

5. The method according to claim 1, wherein

in the turning state, the output from the pitch axis angular velocity sensor arid the output from the roll axis angular velocity sensor each are averaged for a predetermined period of time or longer.

6. The method according to claim 2, wherein

the inverted pendulum mobile unit is turned on a pivot with the use of a turning device that includes:

a support base that supports the inverted pendulum mobile unit;

a plurality of support legs that are adjustable in height and that are connected to the support base; and

a rotary jig that has a first member connected to the support base and a second member connected to the inverted pendulum mobile unit body and in which the first member is coupled to the second member such that the first member is rotatable in parallel with the support base.

7. A turning device used in the method according to claim 2, comprising:

a support base that supports the inverted pendulum mobile unit;

a plurality of support legs that are adjustable in height and that are connected to the support base; and

a rotary jig that has a first member connected to the support base and a second member connected to the inverted pendulum mobile unit body and in which the first member is coupled to the second member such that the first member is rotatable in parallel with the support base.

8. A turning device comprising:

a support base that supports an inverted pendulum mobile unit;

a plurality of support legs that are adjustable in height and that are connected to the support base; and

a rotary jig that has a first member connected to the support base and a second member connected to an inverted pendulum mobile unit body and in which the first member is coupled to the second member such that the first member is rotatable in parallel with the support base