INVERTED VEHICLE CONTROL APPARATUS, AND METHOD AND PROGRAM THEREFOR
First Claim
1. An inverted vehicle control apparatus comprising:
- a plurality of driving wheels provided in an inverted vehicle;
a plurality of drive means each of which drives a respective one of the plurality of driving wheels;
skid detection means for detecting a skid state between the plurality of driving wheels and a road surface;
operation information acquisition means for acquiring operation information of a rider; and
control means for controlling driving of the drive means and thereby controlling the plurality of driving wheels, whereinthe inverted vehicle control apparatus further comprises;
pitch angle detection means for detecting a pitch angle of the inverted vehicle; and
wheel horizontal speed calculation means for calculating a horizontal speed of the driving wheel of the inverted vehicle,the control means controls, based on the operation information acquired by the operation information acquisition means, the driving wheel for which no skid is detected by the skid detection means, andthe control means controls the driving wheel for which a skid is detected by the skid detection means, based on the pitch angle of the inverted vehicle detected by the pitch angle detection means and the horizontal speed of the driving wheel calculated by the wheel horizontal speed calculation means.
1 Assignment
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Accused Products
Abstract
An inverted vehicle control apparatus includes a plurality of driving wheels, a plurality of drive means each of which drives a respective one of the plurality of driving wheels, skid detection means for detecting a skid state between the driving wheels and a road surface, operation information acquisition means for acquiring operation information of a rider, and control means for controlling the drive means to control the driving wheels. The control means controls, based on the operation information acquired by the operation information acquisition means, the driving wheel for which no skid is detected by the skid detection means, and the control means controls the driving wheel for which a skid is detected by the skid detection means so that a friction reaction force exerted from the road surface to the driving wheel is exerted in such a direction that the inverted vehicle is raised by the friction reaction force.
12 Citations
12 Claims
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1. An inverted vehicle control apparatus comprising:
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a plurality of driving wheels provided in an inverted vehicle; a plurality of drive means each of which drives a respective one of the plurality of driving wheels; skid detection means for detecting a skid state between the plurality of driving wheels and a road surface; operation information acquisition means for acquiring operation information of a rider; and control means for controlling driving of the drive means and thereby controlling the plurality of driving wheels, wherein the inverted vehicle control apparatus further comprises; pitch angle detection means for detecting a pitch angle of the inverted vehicle; and wheel horizontal speed calculation means for calculating a horizontal speed of the driving wheel of the inverted vehicle, the control means controls, based on the operation information acquired by the operation information acquisition means, the driving wheel for which no skid is detected by the skid detection means, and the control means controls the driving wheel for which a skid is detected by the skid detection means, based on the pitch angle of the inverted vehicle detected by the pitch angle detection means and the horizontal speed of the driving wheel calculated by the wheel horizontal speed calculation means. - View Dependent Claims (3, 4, 5, 6, 7, 8, 9)
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2. (canceled)
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10. A control method for an inverted vehicle control apparatus, comprising:
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a step of detecting a skid state between a plurality of driving wheels provided in an inverted vehicle and a road surface; a step of detecting a pitch angle of the inverted vehicle; a step of calculating a horizontal speed of the driving wheel of the inverted vehicle; and a step of controlling, based on the acquired operation information, the driving wheel for which no skid is detected, and controlling the driving wheel for which a skid is detected, based on the detected pitch angle of the inverted vehicle and the calculated horizontal speed of the driving wheel.
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11. A program for an inverted vehicle control apparatus, for causing a computer to execute:
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a process of detecting a skid state between a plurality of driving wheels provided in an inverted vehicle and a road surface; a process of calculating a horizontal speed of the driving wheel of the inverted vehicle; and a process of controlling, based on operation information of a rider, the driving wheel for which no skid is detected, and controlling the driving wheel for which a skid is detected, based on a detected pitch angle of the inverted vehicle and the calculated horizontal speed of the driving wheel.
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12. An inverted vehicle control apparatus comprising:
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a plurality of driving wheels provided in an inverted vehicle; a plurality of drive unit each of which drives a respective one of the plurality of driving wheels; skid detection unit for detecting a skid state between the plurality of driving wheels and a road surface; operation information acquisition unit for acquiring operation information of a rider; and control unit for controlling driving of the drive unit and thereby controlling the plurality of driving wheels, wherein the inverted vehicle control apparatus further comprises; pitch angle detection unit for detecting a pitch angle of the inverted vehicle; and wheel horizontal speed calculation unit for calculating a horizontal speed of the driving wheel of the inverted vehicle, the control unit controls, based on the operation information acquired by the operation information acquisition unit, the driving wheel for which no skid is detected by the skid detection unit, and the control unit controls the driving wheel for which a skid is detected by the skid detection unit, based on the pitch angle of the inverted vehicle detected by the pitch angle detection unit and the horizontal speed of the driving wheel calculated by the wheel horizontal speed calculation unit.
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Specification