Traveling apparatus and method for controlling thereof
First Claim
1. A traveling apparatus comprising means for driving a plurality of wheels independently and a chassis connecting said plurality of wheels, in which means for detecting a barycentric shift of a rider is provided in said chassis to perform traveling by respectively setting rotational velocity of said plurality of wheels in accordance with information on said detected shift of the barycenter, further comprising:
- means for detecting the rotational velocity of said plurality of wheels, andcontrol means for performing control of charging with regenerative energy from said means for driving the plurality of wheels, when said detected rotational velocity of the wheel is faster than said set rotational velocity of the wheel.
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Accused Products
Abstract
A traveling apparatus and a method for controlling thereof performs efficient charging with regenerative electrical power. An angle θ0 of a table (not illustrated) is detected by a gyroscopic sensor and an acceleration sensor to be supplied to a central control unit. Then, positional command signals Pref1(t) and Pref2(t) formed are supplied to motor control units which perform control of driving left and right motors respectively. Further, rotational positions θm1 and θm2 of the motors are respectively detected in rotary encoders, those det signals are fed back to the motor control units, and control is performed so as to comply with the positional command signals Pref1(t) and Pref2(t) formed in the central control unit. At the same time, a regenerative state is detected by comparing the rotational positions θm1 and θm2 with the positional command signals Pref1(t) and Pref2(t), and information thereon is transmitted to a regenerative charging circuit by serial communication to perform a control of discharging and charging a secondary battery (battery).
85 Citations
17 Claims
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1. A traveling apparatus comprising means for driving a plurality of wheels independently and a chassis connecting said plurality of wheels, in which means for detecting a barycentric shift of a rider is provided in said chassis to perform traveling by respectively setting rotational velocity of said plurality of wheels in accordance with information on said detected shift of the barycenter, further comprising:
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means for detecting the rotational velocity of said plurality of wheels, and control means for performing control of charging with regenerative energy from said means for driving the plurality of wheels, when said detected rotational velocity of the wheel is faster than said set rotational velocity of the wheel. - View Dependent Claims (2, 3, 4, 5, 6, 7, 16)
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8. A method for controlling a traveling apparatus which drives a plurality of wheels independently and has a chassis connecting said plurality of wheels, in which said chassis is provided with means for detecting barycentric shift of a rider to perform traveling by respectively setting rotational velocity of said plurality of wheels in accordance with information on said detected barycentric shift, comprising:
detecting the rotational velocity of said plurality of wheels, and performing control of charging with the regenerative electrical power from said means for driving the plurality of wheels, when said detected rotational velocity of the wheel is faster than said set rotational velocity of the wheel. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15)
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17. A traveling apparatus comprising:
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a motor configured to drive a plurality of wheels independently; a chassis connecting said plurality of wheels; a barycentric shift detector configured to detect a barycentric shift of a rider in said chassis; a wheel controller configured to set a rotational velocity of said plurality of wheels based on said detected shift of the barycenter; a wheel velocity detector configured to detect the rotational velocity of said plurality of wheels, and a charging controller configured to compare said detected rotational velocity of the wheel and said set rotational velocity of the wheel and to charge a battery with regenerative energy from said motor when said detected rotational velocity of the wheel is faster than said set rotational velocity of the wheel.
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Specification