Title:
倒立型移動体及びその制御方法
Document Type and Number:
Japanese Patent JP5880726
Kind Code:
B2
Abstract:
An inverted vehicle for which inversion control is performed comprises a first sensor that detects an angular speed around an axis inclined from a pitch axis by a first predetermined angle, a second sensor that detects an angular speed around an axis inclined from the pitch axis by a second predetermined angle, a third sensor that detects an angular speed around the pitch axis, a pitch-axis acceleration detection unit that detects an acceleration along the pitch axis, a roll-axis acceleration detection unit that detects an acceleration along a roll axis, a yaw-axis acceleration detection unit that detects an acceleration along the yaw axis, and a control unit that performs the inversion control based on the detected angular speeds. A control unit puts a specific safety function in motion based on a mutual relation among a first angular speed around the pitch axis calculated based on the angular speeds detected by the first and second sensors, a second angular speed around the pitch axis detected by the third sensor, and a third angular speed around the pitch axis calculated based on the detected accelerations.
Inventors:
Takahiro Nakayama
Yuda Kida
Tetsuya Hira
Koji Bito
Yuda Kida
Tetsuya Hira
Koji Bito
Application Number:
JP2014541818A
Publication Date:
March 09, 2016
Filing Date:
October 16, 2012
Export Citation:
Assignee:
TOYOTA JIDOSHA KABUSHIKI KAISHA
International Classes:
B62K17/00; B62K3/00
Domestic Patent References:
| JP2012068189A | 2012-04-05 | |||
| JP2003517340A | 2003-05-27 | |||
| JP2008190980A | 2008-08-21 | |||
| JPH06174487A | 1994-06-24 | |||
| JP2008175679A | 2008-07-31 | |||
| JP2005221284A | 2005-08-18 | |||
| JP2009204419A | 2009-09-10 | |||
| JPH0821732A | 1996-01-23 | |||
| JP2008089531A | 2008-04-17 | |||
| JP2004286529A | 2004-10-14 |
Foreign References:
| WO2006038669A1 | 2006-04-13 |
Attorney, Agent or Firm:
Ken Ieiri