WO2011033575A1 - 倒立振子型移動体 - Google Patents
倒立振子型移動体 Download PDFInfo
- Publication number
- WO2011033575A1 WO2011033575A1 PCT/JP2009/004724 JP2009004724W WO2011033575A1 WO 2011033575 A1 WO2011033575 A1 WO 2011033575A1 JP 2009004724 W JP2009004724 W JP 2009004724W WO 2011033575 A1 WO2011033575 A1 WO 2011033575A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- moving body
- inverted pendulum
- pendulum type
- saddle
- type moving
- Prior art date
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J1/00—Saddles or other seats for cycles; Arrangement thereof; Component parts
- B62J1/005—Saddles having a seating area with multiple separate weight bearing surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/52—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by DC-motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K1/00—Unicycles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K15/00—Collapsible or foldable cycles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Definitions
- the present invention relates to an inverted pendulum type moving body that moves by wheels or the like.
- an inverted pendulum type moving body that moves while maintaining an inverted posture by an inverted pendulum control based on a detection result of an inclination sensor (such as a gyro sensor) is known.
- an inclination sensor such as a gyro sensor
- the vehicle body that is, the seat surface of the seat on which the passenger sits
- the stopper contacts the ground and stably stopped, so that the passenger can easily get on or off the vehicle.
- the present invention has been devised in view of the problems of the prior art, and even when an obstacle exists on the rear floor surface, the obstacle of the main wheel that rolls on the floor surface. It is an object of the present invention to provide an inverted pendulum type moving body that makes it easy for a passenger to get on while preventing contact.
- a first invention made to solve the above-mentioned problem is an inverted pendulum type moving body (1) that moves on the floor surface (G) while maintaining an inverted posture by inverted pendulum control, and A base body (2) holding a traveling unit (3) having a main wheel (85) that rolls, and a seating unit (4) attached to the base body and supporting the buttocks of the passenger (H),
- the seating unit has a saddle (at least the center (C) of which is disposed forward of the axis (B) connecting the rotation center (A) of the main wheel and the center of gravity (Gt1) of the inverted pendulum type moving body).
- 63L, 63R ).
- the saddle is configured such that the seating surface (70La, 70Ra) is inclined forward and downward with respect to the horizontal direction in an inverted posture of the base body on which a passenger does not get on. it can.
- the center of gravity of the inverted pendulum type moving body (including the occupant supported by the saddle) is displaced forward so that the main wheel moves forward.
- Inverted pendulum control is performed, so that even if there are obstacles on the rear floor, it is easy for passengers to ride while preventing the main wheels rolling on the floor from contacting the obstacles.
- crew's riding property (ease of boarding) with respect to a saddle improves.
- FIG. 4 is a sectional view taken along line IV-IV in FIG. 1.
- FIG. 6 is a sectional view taken along line VI-VI in FIG. 1.
- FIG. 6 is a block diagram which shows the principal part of the control system of an inverted pendulum type mobile body.
- the direction of the inverted pendulum type moving body and its constituent elements is determined as shown in the figure, with the vertical direction being the vertical direction and the front-rear direction and the left-right direction being orthogonal to each other on a horizontal plane perpendicular to the vertical direction.
- an inverted pendulum type moving body (hereinafter simply referred to as a moving body) 1 is a frame as a base body having a skeletal structure extending generally in the vertical direction. 2, a traveling unit 3 provided at the lower part of the frame 2, a seating unit 4 provided at the upper part of the frame 2, an electrical unit 11 provided inside the frame 2, and supply power to each unit and sensor
- the battery unit 10 is a main structure.
- the electrical unit 11 includes an inverted pendulum control unit (hereinafter simply referred to as a control unit) 5, a load sensor 6, and a tilt sensor 7.
- the control unit 5 drives and controls the traveling unit 3 in accordance with input signals from various sensors based on the inverted pendulum control, and maintains the moving body 1 in the inverted posture. Further, the moving body 1 is provided with strain sensors 8L and 8R and rotary encoders 9L and 9R at appropriate positions separately from the electrical unit 11.
- the frame 2 has a hollow outer shell structure and has a flat shape in which the width in the front-rear direction is larger than the width in the left-right direction.
- the frame 2 has a constricted portion 2A in the center in the up-down direction, and the constricted portion 2A has a larger width in the front-rear direction than the left-right direction.
- An electrical unit 11 is accommodated in the constricted portion 2A.
- the outer edge of the frame 2 is substantially 8 when viewed from the left-right direction.
- the frame 2 can be divided vertically at the constricted portion 2 ⁇ / b> A, and is composed of an upper frame 21 and a lower frame 22 that are separate from each other.
- the upper frame 21 and the lower frame 22 are dry carbon (carbon fiber reinforced plastic: CFRP) formed by thermally curing a carbon prepreg sheet. As will be described later, the upper frame 21 and the lower frame 22 are connected via a load sensor 6.
- the upper frame 21 is formed with an annular portion so as to form a saddle storage portion 24 penetrating in the left-right direction at the center thereof.
- This annular portion is hollow and has an internal space 26 in which the battery unit 10 and the like are accommodated.
- a lower opening 25 (see FIG. 3) that opens downward is formed at the lower end of the upper frame 21, and an upper opening that opens upward is formed at the upper end of the upper frame 21. 27 is formed.
- a saddle mounting hole 28 that connects the internal space 26 and the saddle storage 24 is formed in the upper wall portion of the saddle storage 24.
- a connection concave portion 29 that is recessed downward from the saddle storage portion 24 is formed in the lower wall portion of the saddle storage portion 24 located above the lower opening 25.
- a connecting hole 30 that is a through hole is formed at the center of the bottom of the connection recess 29.
- the front inner space 26 ⁇ / b> A and the rear inner space 26 ⁇ / b> B in the inner space 26 of the upper frame 21 form an annular battery housing portion that houses the battery unit 10.
- the lower frame 22 has an upper opening 31 and a lower opening 32 and is formed in a cylindrical shape.
- the left and right side walls 33 of the lower frame 22 extend substantially in the vertical direction and are parallel to each other.
- the front and rear side walls 34 of the lower frame 22 bulge in the front-rear direction as proceeding from the upper side to the lower side, and the lower part of the lower frame 22 is semicircular when viewed from the left-right direction.
- the lower part of the lower frame 22 that forms a semicircle defines an accommodation space 35 that accommodates the upper half of the traveling unit 3.
- Each of the left and right side walls 33 is formed with a semicircular cutout 36 continuing to the lower opening 32.
- the left and right cutouts 36 are arranged coaxially with each other with a horizontal axis.
- a projecting piece 37 that extends downward is formed at the boundary between the notch 36 and the lower opening 32 so as to extend the periphery of the notch 36.
- Ventilation holes 39 are formed in the upper portions of the front and rear side walls 34 and in the portions forming the constricted portions 2A.
- the vent holes 39 are elongated through holes extending in the left-right direction, and a plurality of the vent holes 39 are arranged in parallel in the up-down direction.
- a pair of metal support bases 53L and 53R are bonded to the inner wall near the upper opening 31 in the left and right side walls 33 of the lower frame 22, respectively.
- Each support base 53L, 53R extends in the front-rear direction, and the upper surface thereof is a horizontal plane.
- a connecting portion 54 provided with a female screw hole 54a penetrating in the vertical direction.
- the seating unit 4 includes a base body 61, a pair of left and right saddle arms 62L and 62R, and a pair of left and right saddles 63L and 63R.
- the base body 61 is disposed in the upper internal space 26C through the upper opening 27 of the upper frame 21, and closes the upper opening 27 with an upper wall connected to the upper portion.
- the base main body 61 includes a support shaft 65 extending in the front-rear direction at the lower portion thereof.
- the base end portions 66L and 66R of the pair of left and right saddle arms 62L and 62R are pivotally supported on the support shaft 65.
- the saddle arms 62L and 62R extend from the base end portions 66L and 66R through the saddle mounting holes 28 of the upper frame 21 to the distal end portions 67L and 67R located outside the upper frame 21.
- the right saddle arm 62R has a storage position in which the distal end portion 67R is located in the saddle storage portion 24 below the proximal end portion 66R, and a use position in which the distal end portion 67R is deployed to the right substantially with respect to the proximal end portion 66R. It is possible to rotate between.
- the right saddle arm 62R is formed in a curved shape so as to protrude downward in the use position.
- the left saddle arm 62L having a configuration substantially symmetrical to the right saddle arm 62R is rotatable between the storage position and the use position, and is curved so as to protrude downward at the use position. It is formed into a shape.
- the two saddle arms 62L and 62R are connected to each other via a link mechanism (not shown). When one is in the storage position, the other is also in the storage position, and when one is in the use position, the other is also stored. It is designed to be displaced in conjunction with the position.
- the base body is provided with a lock mechanism (not shown). When each saddle arm 62L, 62R is located at the retracted position or the use position, the lock mechanism engages with each saddle arm 62L, 62R to hold the saddle arms 62L, 62R at the retracted position or the use position.
- Each of the saddles 63L and 63R includes support portions 69L and 69R connected to the end portions 67L and 67R of the saddle arms 62L and 62R, and disc-shaped cushion portions 70L and 70R attached to the support portions 69L and 69R.
- the cushion portions 70L and 70R have seating surfaces on which the left and right buttocks and thighs of the passenger (that is, the operator who has boarded the moving body 1) are placed.
- the saddle arms 62L and 62R are located at the use position (see the two-dot chain line in FIG. 6)
- the cushion portions 70L and 70R are disposed above the support portions 69L and 69R, and the seating surfaces face upward.
- the load of the seated passenger is applied to the upper frame 21 through the saddles 63L and 63R, the saddle arms 62L and 62R, and the base body 61.
- the support portions 69L and 69R of the saddles 63L and 63R are positioned within the saddle storage portion 24, and the cushion portions 70L and 70R have seating surfaces.
- the saddle storage unit 24 is closed by facing left outward or right outward.
- each saddle 63L, 63R has at least the seating surfaces 70La, 70Ra with respect to the axis B connecting the rotation center A of the main wheel 85 and the center of gravity Gt1 of the inverted pendulum type moving body.
- the center C has a configuration arranged in the front.
- the saddles 63L and 63R are arranged in the horizontal direction (see FIG. 9A) in which the seating surfaces 70La and 70Ra are indicated by imaginary lines D in the non-boarding state mobile body 1 before the rider H gets on. Inclined forward with respect to the front-rear direction.
- Such a configuration is realized by inclining the imaginary line E viewed from the side in the extending direction of the end portions 67L and 67R of the saddle arms supporting the saddles 63L and 63R forward with respect to the axis B. .
- the same configuration can also be realized by changing the shapes of the cushion portions 70L and 70R as shown in the modified example of FIG.
- the seating unit 4 in the mobile body 1 is not limited to the one used by the occupant to board as in the present embodiment, and can support any load (for example, luggage carried by the operator).
- the configuration described above is also possible. In that case, the shape of the saddles 63L and 63R can be variously changed according to the support target.
- a retractable handle 71 is provided for supporting the moving body by the operator.
- the handle 71 is stored in a handle storage portion 72 that is recessed in the upper wall of the base body 61, as indicated by the solid line in FIG.
- the front and rear legs 71A slide upward as shown by a two-dot chain line in FIG. The operator can hold the handle 71 to lift and carry the movable body 1 or can support the movable body 1 while the operation is stopped to prevent its tilting.
- the traveling unit 3 includes a pair of left and right mount members 81L and 81R as support members, and a pair of left and right electric motors 82L attached to the mount members 81L and 81R, respectively.
- Electric motors 82L and 82R and wave gear devices 83L and 83R made of DC motors have a known configuration. The outputs of the electric motors 82L and 82R are decelerated via the wave gear devices 83L and 83R, respectively, and then transmitted to the drive bodies 84L and 84R (drive disks 121L and 121R).
- the driving bodies 84L and 84R include a drive disk 121R and a plurality of drive rollers 122L and 122R rotatably supported by the drive disk 121L.
- the left and right drive rollers 122L and 122R are arranged at positions separated by a predetermined distance in a state where the left and right drive disks 121L and 121R are connected (that is, a state where the left and right drive bodies 84L and 84R are assembled).
- a main wheel 85 is disposed between the left and right drive rollers 122L and 122R.
- the main wheel 85 includes an endless annular ring body 161 formed of a prismatic body, a plurality of inner sleeves 162 fitted on the outer periphery of the ring body 161, and ball bearings 163 on the outer periphery of each inner sleeve 162. And a plurality of cylindrical driven rollers 164 supported so as to be rotatable therethrough.
- the driven roller 164 includes a metal cylindrical portion 164A that is fitted to the outer peripheral portion of the ball bearing 163, and a rubber cylindrical portion 164B that is vulcanized and bonded to the outer peripheral surface of the metal cylindrical portion 164A.
- the material of the rubber cylindrical portion 164B is not limited to rubber, and may be another resin material having flexibility.
- the rubber cylindrical portion 164B of the driven roller 164 contacts the road surface when the moving body 1 is in use (running state).
- a plurality of driven rollers 164 are provided in the ring direction (circumferential direction) of the annular body 161 together with the inner sleeve 162, and form a substantially outer peripheral surface of the main wheel 85.
- Each driven roller 164 can rotate (rotate) around the tangent line of the annular body 161 at the position where the driven roller 164 is disposed.
- the main wheel 85 is assembled together with the drive bodies 84L and 84R by being interposed between the left and right drive bodies 84L and 84R.
- the main wheel 85 is in contact with the outer peripheral surface of the rubber cylindrical portion 164B of the driven roller 164 and the outer peripheral surfaces of the left and right drive rollers 122L and 122R, and the rotational force (propulsion) of the drive disks 121L and 121R is caused by friction. Force) is transmitted to the driven roller 164 via the drive rollers 122L and 122R.
- left and right step bases 180 ⁇ / b> L and 180 ⁇ / b> R are provided outside the left and right side walls 33 of the lower frame 22.
- Each of the step bases 180L and 180R is formed of a metal material and has a ring shape, and is formed in a shape along the peripheral edge of the notch 36 and the two protruding pieces 37.
- Steps 183L and 183R are rotatably supported on the step bases 180L and 180R, respectively.
- Each step 183L, 183R is supported in the vicinity of each protrusion 181L, 181R with a pivot shaft extending substantially in the front-rear direction at the proximal end, and its distal end is positioned substantially above the proximal end, A storage position (see FIG. 2) that is substantially along the frame 22, and a use position (see FIG. 1) in which the distal end portion is located substantially in the left-right direction of the base end portion and protrudes from the lower frame 22. It is possible to rotate between.
- step bases 180L and 180R and the left and right mount members 81L and 81R of the traveling unit 3 are bolted together with the peripheral edge of the notch 36 and the two projecting pieces 37 interposed therebetween. Thereby, the step bases 180L and 180R and the traveling unit 3 are fixed to the lower frame 22.
- Strain sensors 8L and 8R are attached to the inner surfaces of the step bases 180L and 180R.
- the strain sensors 8L and 8R are known strain gauges, and detect strains of the step bases 180L and 180R when a load is applied to the steps 183L and 183R.
- a lower cover 185 for concealing the lower half of the traveling unit 3 except for the ground contact portion with the road surface is attached to the lower end of the lower frame 22. Further, side covers 186L and 186R for concealing the step bases 180L and 180R are attached to the outer surfaces of the left and right side walls 33 of the lower frame 22 except for the protrusions 181L and 181R and the steps 183L and 183R. Yes.
- the control unit 5 (not shown here), the load sensor 6, and the inclination sensor 7 constituting the electrical unit 11 are attached to the electrical mount frame 202 serving as a skeleton. Being united.
- the front-rear, left-right, and vertical directions are set based on the state in which the electrical unit 11 is attached to the lower frame 22.
- the electrical mount frame 202 is a substantially rectangular frame member having a space in the center, and the size thereof is set so that the peripheral edge thereof can be placed on the left and right support bases 53L and 53R. Further, when the electrical mount frame 202 is placed on the left and right support bases 53L and 53R of the lower frame 22, the position corresponding to the connecting portion 54 provided with the female screw holes 54a of the left and right support bases 53L and 53R. Is provided with a connecting portion 203 provided with a through-hole 203a penetrating in the vertical direction.
- the load sensor 6 is composed of a three-axis force sensor that can detect a force in the z-axis direction (vertical direction) and a moment around the x-axis and the y-axis.
- the load sensor 6 includes a body portion 205 that houses a sensor base, and an input shaft 206 that protrudes upward from the body portion 205.
- the input shaft 206 is formed in a cylindrical shape, and receives an external force to be detected.
- a male screw groove is formed on the outer periphery of the input shaft 206 from the proximal end to the distal end.
- the body part 205 is placed on the electrical mount frame 202 and fastened with screws.
- a plate-like connecting member base 210 is attached to the outer peripheral portion of the base end portion of the input shaft 206.
- the connecting member base 210 has a female screw hole in the center, and this female screw hole is fixed to the input shaft 206 by screwing with a male screw groove of a base end portion 206B (see FIG. 4) of the input shaft 206. Note that the tip of the input shaft 206 protrudes above the connecting member base 210.
- a first connector base 211 extending forward is screwed to the front portion of the connecting member base 210.
- a second connector base 212 is screwed to the rear portion of the connecting member base 210.
- the tilt sensor 7 is a known gyroscope.
- the inclination sensor 7 is disposed inside the electrical mount frame 202 that functions as the housing, and is screwed to the electrical mount frame 202.
- the tilt sensor 7 detects the tilt angle from the vertical direction with reference to the vertical direction (vertical direction).
- the battery unit 10 includes two batteries 281 and 281 and two battery management boards 282 and 282 attached to the batteries 281 and 281, respectively.
- Each battery management board 282 includes a CPU and a memory constituting a microcomputer (not shown), and performs charging / discharging of each battery 281, 281 and selection of the battery 281, 281 to be used.
- the batteries 281 and 281 are formed in a curved shape with a predetermined curvature so as to correspond to the shape of the internal space 26 of the annular portion in the upper frame 21.
- the batteries 281 and 281 are inserted separately into the front inner space 26A and the rear inner space 26B of the upper frame 21 through the lower opening 25 of the upper frame 21, and each support base 51L of the upper frame 21 is inserted.
- 51R are supported from below by a battery bracket 291 that is screw-fastened.
- the control unit 5 is supplied from the battery unit 10 and the control board 241 provided with a control circuit 261 (see FIG. 8) used for controlling the electric motors 82 ⁇ / b> L, 82 ⁇ / b> R and the like.
- Left and right motor drivers each including a power supply board 242 for converting a power supply voltage to a predetermined voltage and left and right driver circuits (inverter circuits) 253 and 254 (see FIG. 8) used for PWM control of the electric motors 82L and 82R Boards 243 and 244, an I / O interface board 245 including an input interface circuit 265 and an output interface circuit 266 (both refer to FIG. 8), and a cooling fan 247 are provided.
- signals from the load sensor 6, the tilt sensor 7, and the strain sensors 8 ⁇ / b> L and 8 ⁇ / b> R are input to the control circuit 261 via the input interface circuit 265.
- the control circuit 261 performs inverted pendulum control, and generates PWM signals for driving the left and right driver circuits 253 and 254 in order to maintain the inverted posture of the moving body 1 based on various input signals. Generate.
- the load sensor 6 outputs a signal corresponding to the load input to the input shaft 206 to the control circuit 261.
- the strain sensors 8L and 8R output a signal corresponding to the load applied to the steps 183L and 183R to the control circuit 261.
- the inclination sensor 7 outputs a signal corresponding to its own inclination with respect to a predetermined reference line to the control circuit 261.
- the control circuit 261 calculates a load input to the input shaft 206 based on a signal from the load sensor 6, compares the calculated load with a predetermined threshold value, and the occupant H is seated on the seating unit 4. It is determined whether or not. Further, the control circuit 261 calculates the load applied to the steps 183L and 183R based on the signals from the strain sensors 8L and 8R, compares the calculated load with a predetermined threshold value, and compares the calculated load with a predetermined threshold value to the passengers in the steps 183L and 183R. It is determined whether H is on the foot.
- control circuit 261 determines whether or not the occupant of the mobile body 1 is based on the determination result of whether or not the user is seated on the seating unit 4 and the determination result of whether or not he / she is on the step 183L or 183R. The presence / absence and the boarding posture of the passenger are determined.
- the control circuit 261 performs inverted pendulum control based on the tilt angle ⁇ .
- the center of gravity of the entire moving body 1 that is, the center of gravity Gt1 that does not include the occupant H or the center of gravity Gt2 that includes the seated occupant H
- the inclination angle ⁇ is made to coincide with the reference angle ⁇ t that is the control target value so as to be positioned above.
- the reference angle ⁇ t is set in each of the non-boarding state, the sitting boarding state, and the standing boarding state of the moving body 1. Yes.
- the control circuit 261 has a plurality of preset operation modes, and selects the boarding mode as the operation mode when it is determined that the operator is on board. Then, the control circuit 261 sets a target value (reference angle ⁇ t) of the inclination angle ⁇ of the moving body 1 according to the center of gravity Gt2 of the entire moving body 1 including the passenger's load detected by the load sensor 6, etc.
- the values for the boarding mode are set as various parameters for the inverted pendulum control.
- the control circuit 261 determines that the operator is not on board, the control circuit 261 selects the self-supporting mode as the operation mode, and the inclination of the mobile body 1 according to the center of gravity Gt1 of the entire mobile body 1 that does not include the passenger's load.
- a value for the independent mode is set as various parameters for the inverted pendulum control, such as setting a target value of the angle ⁇ .
- the passenger H gets on while preventing the main wheel 85 rolling on the floor G from contacting the obstacle. Becomes easy.
- the seating surfaces 70La and 70Ra of the saddles 63L and 63R are inclined forward, the rideability (ease of boarding) of the passenger H with respect to the saddles 63L and 63R is improved.
- the seating surfaces 70La and 70Ra of the saddles 63L and 63R are horizontal as indicated by a virtual line D.
- the present invention has been described in detail based on specific embodiments, these embodiments are merely examples, and the present invention is not limited to these embodiments.
- the inverted pendulum type moving body according to the present invention is particularly suitable for a unicycle, but is not limited to this, and a configuration including a plurality of wheels (main wheels) is also possible.
- all the constituent elements of the inverted pendulum type moving body according to the present invention shown in the above embodiment are not necessarily essential, and can be appropriately selected as long as they do not depart from the scope of the present invention.
Abstract
Description
また、上記第2の発明によれば、搭乗者のサドルに対する乗車性(乗り込み易さ)が向上する。
図1および図3~図5に示されているように、倒立振子型移動体(以下、単に移動体と略称する。)1は、概ね上下方向に延在する骨格構造をなす基体としてのフレーム2と、フレーム2の下部に設けられた走行ユニット3と、フレーム2の上部に設けられた着座ユニット4と、フレーム2の内部に設けられた電装ユニット11と、各ユニットおよびセンサに電力を供給するバッテリユニット10とを主要構造として有している。電装ユニット11は、倒立振子制御ユニット(以下、単に制御ユニットと略称する)5と、荷重センサ6と、傾斜センサ7とを備えている。制御ユニット5は、倒立振子制御に基づいて各種センサからの入力信号に応じて走行ユニット3を駆動制御し、移動体1を倒立姿勢に維持する。また、移動体1は、電装ユニット11とは別体に、ひずみセンサ8L,8Rやロータリエンコーダ9L,9Rを適所に備えている。
図1に示されているように、フレーム2は、中空の外殻構造をなし、前後方向の幅が左右方向の幅に比べて大きい扁平形状を呈している。また、フレーム2は、上下方向における中央にくびれ部2Aを有し、くびれ部2Aは前後方向における幅が左右方向よりも大きく凹んでいる。このくびれ部2Aには、電装ユニット11が収容されている。これにより、フレーム2は、左右方向から見て外縁が略8の字状を呈する。図3に示されているように、フレーム2は、そのくびれ部2Aにおいて上下に分割可能であり、互いに別体の上部フレーム21と下部フレーム22とから構成されている。上部フレーム21および下部フレーム22は、それぞれカーボンプリプレグシートを熱硬化させることによって形成されたドライカーボン(炭素繊維強化プラスチック:CFRP)である。後述するように、上部フレーム21と下部フレーム22とは、荷重センサ6を介して連結されている。
図6に示されているように、着座ユニット4は、ベース本体61と、左右一対のサドルアーム62L,62Rと、左右一対のサドル63L,63Rとを備えている。ベース本体61は、上部フレーム21の上部開口部27を通して上部内部空間26Cに配置され、その上部に接続された上壁により上部開口部27を閉塞している。また、ベース本体61は、その下部に前後方向に延設された支持軸65を備えている。
ベース本体61の上壁には、操作者による移動体の支持に供される格納式のハンドル71が設けられている。ハンドル71は、不使用時は、図2中の実線で示すように、ベース本体61の上壁に凹設されたハンドル格納部72に格納される。一方、ハンドル71は、使用時には、図2中の2点鎖線で示すように、前後の脚部71Aが上方にスライドすることによりベース本体61の上方に突出する。操作者は、ハンドル71を把持して、移動体1を持ち上げて運んだり、運転停止中の移動体1を支えてその傾倒を防止したりすることができる。
図3~図5に示されているように、走行ユニット3は、支持部材としての左右一対のマウント部材81L,81Rと、これらマウント部材81L,81Rにそれぞれ取り付けられた左右一対の電動モータ82L,82Rと、波動歯車装置83L,83Rを介して電動モータ82L,82Rにそれぞれ回転させられる駆動体84L,84Rと、左右の駆動体84L,84Rによって回転させられる主輪85とを備えている。DCモータからなる電動モータ82L,82Rおよび波動歯車装置83L,83Rは周知の構成を有する。電動モータ82L,82Rの出力は、それぞれ波動歯車装置83L,83Rを介して減速された後、駆動体84L,84R(ドライブディスク121L,121R)に伝達されるようになっている。
図3に示されているように、下部フレーム22の左右側壁33の外側には、左右ステップベース180L、180Rが設けられる。各ステップベース180L,180Rは、金属材料から形成されて環形状をなし、切欠部36の周縁部および2つの突片37に沿う形状に形成されている。各ステップベース180L,180Rには、それぞれステップ183L,183Rが回動可能に支持されている。各ステップ183L,183Rは、基端部において概ね前後方向に延在する回動軸をもって各突出部181L,181R付近に支持されており、その先端部が基端部の概ね上方に位置し、下部フレーム22に概ね沿った状態となる格納位置(図2参照)と、その先端部が基端部の概ね左右方向に位置し、下部フレーム22から突出した状態となる使用位置(図1参照)との間で回動可能となっている。
図7に示されているように、電装ユニット11を構成する制御ユニット5(ここでは図示せず)と、荷重センサ6と、傾斜センサ7とのそれぞれは、骨格となる電装マウントフレーム202に取り付けられて一体となっている。以下の電装ユニット11の説明では、電装ユニット11が下部フレーム22に取り付けられた状態を基準にして、前後、左右、上下の方向を設定する。
図4に示されているように、バッテリユニット10は、2つのバッテリ281,281と、これらバッテリ281,281にそれぞれ取り付けられた2つのバッテリマネジメント基板282,282とを備えている。各バッテリマネジメント基板282は、図示しないマイクロコンピュータを構成するCPUと、メモリとを備えており、各バッテリ281,281の充放電や使用するバッテリ281,281の選択を行う。
図4に示されているように、制御ユニット5は、電動モータ82L,82R等の制御に供される制御回路261(図8参照)を備えた制御基板241と、バッテリユニット10から供給された電源電圧を所定の電圧に変換する電源基板242と、電動モータ82L,82RのPWM制御に供される左右のドライバ回路(インバータ回路)253,254(図8参照)をそれぞれ備えた左右のモータドライバ基板243,244と、入力インターフェース回路265および出力インターフェース回路266(ともに図8参照)を備えたI/Oインターフェース基板245と、冷却用の送風ファン247とを備えている。
2 フレーム
2A くびれ部
3 走行ユニット
4 着座ユニット
5 倒立振子制御ユニット
6 荷重センサ
7 傾斜センサ
8L,8R ひずみセンサ
10 バッテリユニット
11 電装ユニット
13 上部構造体
14 下部構造体
21 上部フレーム
22 下部フレーム
24 サドル格納部
26 内部空間
28 サドル取付孔
29 接続凹部
30 連結孔
39 通気孔
63L,63R サドル
70La,70Ra 着座面
71 ハンドル
82L,82R 電動モータ
84L,84R 駆動体
85 主輪
183L,183R ステップ
185 下部カバー
186L,186R サイドカバー
202 電装マウントフレーム
205 ボディ部
206 入力軸
210 連結部材ベース
241 制御基板
242 電源基板
243 モータドライバ基板
244 モータドライバ基板
246 通気路
247 送風ファン
261 制御回路
281 バッテリ
282 バッテリマネジメント基板
Claims (2)
- 倒立振子制御により倒立姿勢を維持しながら床面上を移動する倒立振子型移動体であって、
前記床面上を転動する主輪を有する走行ユニットを保持した基体と、
前記基体に取り付けられ、搭乗者の臀部を支持する着座ユニットと
を備え、
前記着座ユニットは、前記主輪の回転中心と倒立振子型移動体の重心とを結んだ軸線に対し、少なくともその中心が前方に配置されたサドルを有することを特徴とする倒立振子型移動体。 - 前記サドルは、搭乗者が乗車しない前記基体の倒立姿勢において、その着座面が水平方向に対して前下がりに傾斜していることを特徴とする、請求項1に記載の倒立振子型移動体。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN200980162034.8A CN102574560B (zh) | 2009-09-18 | 2009-09-18 | 倒立摆型移动体 |
US13/395,578 US8522902B2 (en) | 2009-09-18 | 2009-09-18 | Inverted pendulum type vehicle |
JP2011531649A JP5426681B2 (ja) | 2009-09-18 | 2009-09-18 | 倒立振子型移動体 |
PCT/JP2009/004724 WO2011033575A1 (ja) | 2009-09-18 | 2009-09-18 | 倒立振子型移動体 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2009/004724 WO2011033575A1 (ja) | 2009-09-18 | 2009-09-18 | 倒立振子型移動体 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2011033575A1 true WO2011033575A1 (ja) | 2011-03-24 |
Family
ID=43758204
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2009/004724 WO2011033575A1 (ja) | 2009-09-18 | 2009-09-18 | 倒立振子型移動体 |
Country Status (4)
Country | Link |
---|---|
US (1) | US8522902B2 (ja) |
JP (1) | JP5426681B2 (ja) |
CN (1) | CN102574560B (ja) |
WO (1) | WO2011033575A1 (ja) |
Cited By (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102013208647A1 (de) | 2012-05-14 | 2013-11-14 | Honda Motor Co., Ltd. | Fahrzeug vom Inverspendeltyp |
EP2664527A1 (en) | 2012-05-14 | 2013-11-20 | Honda Motor Co., Ltd. | Inverted pendulum type vehicle |
EP2664528A1 (en) | 2012-05-14 | 2013-11-20 | Honda Motor Co., Ltd. | Inverted pendulum type vehicle |
JP2013237334A (ja) * | 2012-05-14 | 2013-11-28 | Honda Motor Co Ltd | 倒立振子型車両 |
US8825254B2 (en) | 2012-08-31 | 2014-09-02 | Honda Motor Co., Ltd. | Inverted pendulum type vehicle, and control method of inverted pendulum type vehicle |
US20140297126A1 (en) * | 2013-03-29 | 2014-10-02 | Honda Motor Co., Ltd. | Inverted pendulum type vehicle |
US9061721B2 (en) | 2013-05-31 | 2015-06-23 | Honda Motor Co., Ltd. | Inverted pendulum type vehicle |
US9139224B2 (en) | 2013-03-29 | 2015-09-22 | Honda Motor Co., Ltd. | Inverted pendulum type vehicle |
US9317039B2 (en) | 2013-03-29 | 2016-04-19 | Honda Motor Co., Ltd. | Inverted pendulum type vehicle |
US9346511B2 (en) | 2013-03-27 | 2016-05-24 | Honda Motor Co., Ltd. | Inverted pendulum type vehicle |
US9367066B2 (en) | 2013-03-29 | 2016-06-14 | Honda Motor Co., Ltd. | Inverted pendulum type vehicle |
US9423795B2 (en) | 2013-03-29 | 2016-08-23 | Honda Motor Co., Ltd. | Inverted pendulum type vehicle |
US9505459B2 (en) | 2013-05-31 | 2016-11-29 | Honda Motor Co., Ltd. | Inverted pendulum type vehicle |
US9511656B2 (en) | 2013-05-31 | 2016-12-06 | Honda Motor Co., Ltd. | Inverted pendulum type vehicle |
JP2017532254A (ja) * | 2014-09-29 | 2017-11-02 | ナインボット、(テンシン)、テク、カンパニー、リミテッドNinebot (Tianjin) Tech Co., Ltd. | バランス一輪車 |
CN109480521A (zh) * | 2017-09-10 | 2019-03-19 | 浙江玛拉蒂智能家具科技有限公司 | 一种坐垫大小调节机构及座椅 |
Families Citing this family (23)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010260501A (ja) * | 2009-05-11 | 2010-11-18 | Honda Motor Co Ltd | 摩擦式駆動装置及び全方向移動車 |
US8731758B2 (en) * | 2010-04-06 | 2014-05-20 | Toyota Jidosha Kabushiki Kaisha | Vehicle control apparatus, control method thereof, and control software |
FR2969571B1 (fr) * | 2010-12-23 | 2015-01-16 | Thales Sa | Systeme robotise collaborateur |
US10281915B2 (en) | 2011-01-05 | 2019-05-07 | Sphero, Inc. | Multi-purposed self-propelled device |
US8751063B2 (en) | 2011-01-05 | 2014-06-10 | Orbotix, Inc. | Orienting a user interface of a controller for operating a self-propelled device |
US9218316B2 (en) | 2011-01-05 | 2015-12-22 | Sphero, Inc. | Remotely controlling a self-propelled device in a virtualized environment |
US9090214B2 (en) | 2011-01-05 | 2015-07-28 | Orbotix, Inc. | Magnetically coupled accessory for a self-propelled device |
US9429940B2 (en) | 2011-01-05 | 2016-08-30 | Sphero, Inc. | Self propelled device with magnetic coupling |
US9827487B2 (en) | 2012-05-14 | 2017-11-28 | Sphero, Inc. | Interactive augmented reality using a self-propelled device |
WO2013173389A1 (en) | 2012-05-14 | 2013-11-21 | Orbotix, Inc. | Operating a computing device by detecting rounded objects in an image |
US10056791B2 (en) | 2012-07-13 | 2018-08-21 | Sphero, Inc. | Self-optimizing power transfer |
CN103407532A (zh) * | 2013-08-26 | 2013-11-27 | 刘石创 | 一种单轮单杆自平衡电动车 |
US9481423B2 (en) * | 2013-12-09 | 2016-11-01 | Shane Chen | Single-wheel structure transportation device with extendable walking handle |
USD733203S1 (en) * | 2013-12-17 | 2015-06-30 | Roambotics Inc. | Personal robot |
US9829882B2 (en) | 2013-12-20 | 2017-11-28 | Sphero, Inc. | Self-propelled device with center of mass drive system |
JP6184348B2 (ja) * | 2014-03-07 | 2017-08-23 | 本田技研工業株式会社 | 倒立振子型車両 |
US10315720B2 (en) * | 2015-10-13 | 2019-06-11 | Shane Chen | Water shield for use in a friction drive vehicle and a vehicle having same |
US10556636B2 (en) * | 2016-01-17 | 2020-02-11 | Shane Chen | Self-balancing load bearing vehicle |
JP6700990B2 (ja) * | 2016-06-09 | 2020-05-27 | 本田技研工業株式会社 | 倒立振子型車両 |
USD840277S1 (en) * | 2017-05-11 | 2019-02-12 | Ninebot (Beijing) Tech. Co., Ltd | Electric unicycle scooter |
CN110379285B (zh) * | 2019-06-28 | 2021-01-19 | 西安交通大学 | 一种四棱锥立体倒立摆装置及控制方法 |
JP7349960B2 (ja) * | 2020-06-05 | 2023-09-25 | 本田技研工業株式会社 | ドライブディスク |
US11827300B1 (en) * | 2021-10-25 | 2023-11-28 | Honda Motor Co., Ltd. | Butterfly folding seat mechanism for personal transport device |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008168697A (ja) * | 2007-01-10 | 2008-07-24 | Toyota Motor Corp | 倒立型移動体 |
JP2008253565A (ja) * | 2007-04-05 | 2008-10-23 | Toyota Motor Corp | 走行装置 |
WO2008139740A1 (ja) * | 2007-05-16 | 2008-11-20 | Honda Motor Co., Ltd. | 全方向に移動可能な乗り物 |
JP2009040165A (ja) * | 2007-08-07 | 2009-02-26 | Kanto Auto Works Ltd | 三輪走行装置 |
Family Cites Families (63)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6837327B2 (en) * | 1993-02-24 | 2005-01-04 | Deka Products Limited Partnership | Controlled balancing toy |
US6561294B1 (en) * | 1995-02-03 | 2003-05-13 | Deka Products Limited Partnership | Balancing vehicle with passive pivotable support |
US6003624A (en) * | 1995-06-06 | 1999-12-21 | University Of Washington | Stabilizing wheeled passenger carrier capable of traversing stairs |
US6553271B1 (en) * | 1999-05-28 | 2003-04-22 | Deka Products Limited Partnership | System and method for control scheduling |
US6405816B1 (en) * | 1999-06-03 | 2002-06-18 | Deka Products Limited Partnership | Mechanical improvements to a personal vehicle |
US8016060B2 (en) * | 2005-03-11 | 2011-09-13 | Equos Research Co., Ltd. | Vehicle |
WO2007077690A1 (ja) * | 2005-12-28 | 2007-07-12 | Equos Research Co., Ltd. | 車輪支持・駆動装置 |
JP4291822B2 (ja) * | 2006-02-03 | 2009-07-08 | トヨタ自動車株式会社 | 倒立車輪型の走行体 |
EP2017172A4 (en) * | 2006-05-09 | 2011-11-02 | Equos Res Co Ltd | VEHICLE, VALUE ESTABLISHMENT DEVICE AND DEVICE FOR DETERMINING A LOADED ARTICLE |
JP2008024235A (ja) * | 2006-07-24 | 2008-02-07 | Equos Research Co Ltd | 車両 |
JP4434186B2 (ja) * | 2006-09-04 | 2010-03-17 | トヨタ自動車株式会社 | 移動体及び移動体の制御方法 |
JPWO2008065853A1 (ja) * | 2006-11-30 | 2010-03-04 | 株式会社エクォス・リサーチ | 車両 |
JP5083648B2 (ja) | 2007-01-31 | 2012-11-28 | 株式会社エクォス・リサーチ | 車両 |
JP4779982B2 (ja) * | 2007-02-02 | 2011-09-28 | トヨタ自動車株式会社 | 移動体及び移動体の制御方法 |
WO2008120507A1 (ja) * | 2007-03-29 | 2008-10-09 | Equos Research Co., Ltd. | 車両 |
JP4735598B2 (ja) * | 2007-04-27 | 2011-07-27 | トヨタ自動車株式会社 | 倒立車輪型移動体、及びその制御方法 |
US20100168993A1 (en) * | 2007-06-29 | 2010-07-01 | Kabushikikaisha Equos Research | Vehicle |
JP4867823B2 (ja) * | 2007-07-09 | 2012-02-01 | トヨタ自動車株式会社 | 倒立車輪型移動体、及びその制御方法 |
JP5013256B2 (ja) * | 2007-08-07 | 2012-08-29 | 株式会社エクォス・リサーチ | 車両 |
JP5115133B2 (ja) * | 2007-10-12 | 2013-01-09 | 株式会社エクォス・リサーチ | 車両 |
JP4605204B2 (ja) * | 2007-10-24 | 2011-01-05 | トヨタ自動車株式会社 | 倒立振子型移動体、及びその制御方法 |
JP4470988B2 (ja) * | 2007-10-25 | 2010-06-02 | トヨタ自動車株式会社 | 倒立車輪型移動体、及びその制御方法 |
US8201653B2 (en) * | 2008-10-08 | 2012-06-19 | Strassman David R | Seats for self-balancing vehicles |
US8170780B2 (en) * | 2008-11-06 | 2012-05-01 | Segway, Inc. | Apparatus and method for control of a vehicle |
US8249773B2 (en) * | 2008-11-27 | 2012-08-21 | Toyota Jidosha Kabushiki Kaisha | Vehicle and its control method |
JP2010125969A (ja) * | 2008-11-27 | 2010-06-10 | Toyota Motor Corp | 移動体 |
CN102362233B (zh) * | 2009-01-26 | 2013-11-06 | 爱考斯研究株式会社 | 车辆 |
DE112009005245B4 (de) * | 2009-09-18 | 2021-02-04 | Honda Motor Co., Ltd. | Steuer-/Regelvorrichtung eines Inverspendel-artigen Fahrzeugs |
JP5260455B2 (ja) * | 2009-09-18 | 2013-08-14 | 本田技研工業株式会社 | 倒立振子型移動体 |
WO2011033591A1 (ja) * | 2009-09-18 | 2011-03-24 | 本田技研工業株式会社 | 倒立振子型車両の制御装置 |
US8567537B2 (en) * | 2009-09-18 | 2013-10-29 | Honda Motor Co., Ltd | Inverted pendulum type vehicle |
JP5401233B2 (ja) * | 2009-09-18 | 2014-01-29 | 本田技研工業株式会社 | 倒立振子型移動体 |
CN102574558B (zh) * | 2009-09-18 | 2014-10-08 | 本田技研工业株式会社 | 倒立摆型移动体 |
WO2011033586A1 (ja) * | 2009-09-18 | 2011-03-24 | 本田技研工業株式会社 | 倒立振子型車両の制御装置 |
DE112009005251B4 (de) * | 2009-09-18 | 2018-07-12 | Honda Motor Co., Ltd. | Regelungs-/Steuerungsvorrichtung eines inverspendel-artigen Fahrzeugs |
JP5398446B2 (ja) * | 2009-09-18 | 2014-01-29 | 本田技研工業株式会社 | 駆動装置 |
JP5306471B2 (ja) * | 2009-09-18 | 2013-10-02 | 本田技研工業株式会社 | 倒立振子型車両の制御装置 |
US8513917B2 (en) * | 2009-09-18 | 2013-08-20 | Honda Motor Co., Ltd. | Recharging system for a rechargeable battery of an inverted pendulum type vehicle |
JP5414801B2 (ja) * | 2009-09-18 | 2014-02-12 | 本田技研工業株式会社 | 倒立振子型車両の制御装置 |
CN102574559B (zh) * | 2009-09-18 | 2014-08-20 | 本田技研工业株式会社 | 倒立摆型移动体 |
US8583338B2 (en) * | 2009-09-18 | 2013-11-12 | Honda Motor Co., Ltd. | Control device of inverted pendulum type vehicle |
WO2011033595A1 (ja) * | 2009-09-18 | 2011-03-24 | 本田技研工業株式会社 | 倒立振子型車両の制御装置 |
JP5414800B2 (ja) * | 2009-09-18 | 2014-02-12 | 本田技研工業株式会社 | 倒立振子型車両の制御装置 |
JP5386282B2 (ja) * | 2009-09-18 | 2014-01-15 | 本田技研工業株式会社 | 歩行補助装置 |
WO2011033596A1 (ja) * | 2009-09-18 | 2011-03-24 | 本田技研工業株式会社 | 倒立振子型車両の制御装置 |
DE112009005249T5 (de) * | 2009-09-18 | 2013-01-31 | Honda Motor Co., Ltd. | Reibantriebsvorrichtung und invertiertes Pendel-Fahrzeug |
US8532898B2 (en) * | 2009-09-18 | 2013-09-10 | Honda Motor Co., Ltd. | Control device of omnidirectional vehicle |
US8381859B2 (en) * | 2009-09-18 | 2013-02-26 | Honda Motor Co., Ltd. | Inverted pendulum type vehicle |
DE112009005250B4 (de) * | 2009-09-18 | 2015-05-28 | Honda Motor Co., Ltd. | Regelungs-/Steuerungsvorrichtung eines inverspendelartigen Fahrzeugs |
JP5398445B2 (ja) * | 2009-09-18 | 2014-01-29 | 本田技研工業株式会社 | 全方向移動車両 |
JP5292242B2 (ja) * | 2009-09-21 | 2013-09-18 | 本田技研工業株式会社 | 摩擦式駆動装置および倒立振子型移動体 |
JP5352394B2 (ja) * | 2009-09-22 | 2013-11-27 | 本田技研工業株式会社 | 摩擦式駆動装置および摩擦式駆動装置を有する倒立振子型移動体 |
US8548711B2 (en) * | 2009-09-23 | 2013-10-01 | Honda Motor Co., Ltd. | Control device of inverted pendulum type vehicle |
DE112009005276B4 (de) * | 2009-09-23 | 2015-05-21 | Honda Motor Co., Ltd. | Inverspendel-artiges Fahrzeug |
JP5404800B2 (ja) * | 2009-09-23 | 2014-02-05 | 本田技研工業株式会社 | 倒立振子型車両 |
JP5358374B2 (ja) * | 2009-09-24 | 2013-12-04 | 本田技研工業株式会社 | 車両 |
JP2011068222A (ja) * | 2009-09-24 | 2011-04-07 | Honda Motor Co Ltd | 倒立振子型車両の制御装置 |
JP5484845B2 (ja) * | 2009-09-24 | 2014-05-07 | 本田技研工業株式会社 | 電動車両 |
JP5208906B2 (ja) * | 2009-11-13 | 2013-06-12 | 本田技研工業株式会社 | 倒立振子型車両 |
JP5208912B2 (ja) * | 2009-12-11 | 2013-06-12 | 本田技研工業株式会社 | 移動装置 |
US8219308B2 (en) * | 2010-02-02 | 2012-07-10 | Leeser Karl F | Monowheel type vehicle |
US8269447B2 (en) * | 2010-03-17 | 2012-09-18 | Disney Enterprises, Inc. | Magnetic spherical balancing robot drive |
US8467948B2 (en) * | 2010-09-29 | 2013-06-18 | Honda Motor Co., Ltd. | Omnidirectional moving body operation system and omnidirectional moving body operation method |
-
2009
- 2009-09-18 WO PCT/JP2009/004724 patent/WO2011033575A1/ja active Application Filing
- 2009-09-18 CN CN200980162034.8A patent/CN102574560B/zh not_active Expired - Fee Related
- 2009-09-18 US US13/395,578 patent/US8522902B2/en active Active
- 2009-09-18 JP JP2011531649A patent/JP5426681B2/ja active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008168697A (ja) * | 2007-01-10 | 2008-07-24 | Toyota Motor Corp | 倒立型移動体 |
JP2008253565A (ja) * | 2007-04-05 | 2008-10-23 | Toyota Motor Corp | 走行装置 |
WO2008139740A1 (ja) * | 2007-05-16 | 2008-11-20 | Honda Motor Co., Ltd. | 全方向に移動可能な乗り物 |
JP2009040165A (ja) * | 2007-08-07 | 2009-02-26 | Kanto Auto Works Ltd | 三輪走行装置 |
Cited By (23)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2664527A1 (en) | 2012-05-14 | 2013-11-20 | Honda Motor Co., Ltd. | Inverted pendulum type vehicle |
EP2664528A1 (en) | 2012-05-14 | 2013-11-20 | Honda Motor Co., Ltd. | Inverted pendulum type vehicle |
JP2013237333A (ja) * | 2012-05-14 | 2013-11-28 | Honda Motor Co Ltd | 倒立振子型車両 |
JP2013237334A (ja) * | 2012-05-14 | 2013-11-28 | Honda Motor Co Ltd | 倒立振子型車両 |
US8813893B2 (en) | 2012-05-14 | 2014-08-26 | Honda Motor Co., Ltd. | Inverted pendulum type vehicle |
DE102013208647B4 (de) | 2012-05-14 | 2018-05-09 | Honda Motor Co., Ltd. | Fahrzeug vom Inverspendeltyp |
US8862301B2 (en) | 2012-05-14 | 2014-10-14 | Honda Motor Co., Ltd. | Inverted pendulum type vehicle |
US9457861B2 (en) | 2012-05-14 | 2016-10-04 | Honda Motor Co., Ltd. | Inverted pendulum type vehicle |
DE102013208647A1 (de) | 2012-05-14 | 2013-11-14 | Honda Motor Co., Ltd. | Fahrzeug vom Inverspendeltyp |
US8825254B2 (en) | 2012-08-31 | 2014-09-02 | Honda Motor Co., Ltd. | Inverted pendulum type vehicle, and control method of inverted pendulum type vehicle |
US9346511B2 (en) | 2013-03-27 | 2016-05-24 | Honda Motor Co., Ltd. | Inverted pendulum type vehicle |
US9423795B2 (en) | 2013-03-29 | 2016-08-23 | Honda Motor Co., Ltd. | Inverted pendulum type vehicle |
US9317039B2 (en) | 2013-03-29 | 2016-04-19 | Honda Motor Co., Ltd. | Inverted pendulum type vehicle |
US9139224B2 (en) | 2013-03-29 | 2015-09-22 | Honda Motor Co., Ltd. | Inverted pendulum type vehicle |
US9367066B2 (en) | 2013-03-29 | 2016-06-14 | Honda Motor Co., Ltd. | Inverted pendulum type vehicle |
US8949010B2 (en) * | 2013-03-29 | 2015-02-03 | Honda Motor Co., Ltd. | Inverted pendulum type vehicle |
US20140297126A1 (en) * | 2013-03-29 | 2014-10-02 | Honda Motor Co., Ltd. | Inverted pendulum type vehicle |
US9061721B2 (en) | 2013-05-31 | 2015-06-23 | Honda Motor Co., Ltd. | Inverted pendulum type vehicle |
US9505459B2 (en) | 2013-05-31 | 2016-11-29 | Honda Motor Co., Ltd. | Inverted pendulum type vehicle |
US9511656B2 (en) | 2013-05-31 | 2016-12-06 | Honda Motor Co., Ltd. | Inverted pendulum type vehicle |
JP2017532254A (ja) * | 2014-09-29 | 2017-11-02 | ナインボット、(テンシン)、テク、カンパニー、リミテッドNinebot (Tianjin) Tech Co., Ltd. | バランス一輪車 |
US10160508B2 (en) | 2014-09-29 | 2018-12-25 | Ninebot (Beijing) Tech Co., Ltd. | Single-wheeled balance vehicle |
CN109480521A (zh) * | 2017-09-10 | 2019-03-19 | 浙江玛拉蒂智能家具科技有限公司 | 一种坐垫大小调节机构及座椅 |
Also Published As
Publication number | Publication date |
---|---|
CN102574560A (zh) | 2012-07-11 |
JP5426681B2 (ja) | 2014-02-26 |
JPWO2011033575A1 (ja) | 2013-02-07 |
US8522902B2 (en) | 2013-09-03 |
CN102574560B (zh) | 2014-06-18 |
US20120168235A1 (en) | 2012-07-05 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5426681B2 (ja) | 倒立振子型移動体 | |
JP5352673B2 (ja) | 倒立振子型移動体 | |
JP5352672B2 (ja) | 倒立振子型移動体 | |
US8567537B2 (en) | Inverted pendulum type vehicle | |
JP5260455B2 (ja) | 倒立振子型移動体 | |
US10035557B2 (en) | Self-balancing vehicle frame | |
JP5369999B2 (ja) | 車両 | |
JP2011079426A (ja) | 倒立振子型移動体 | |
JP2011046297A (ja) | 車両 | |
JP5390320B2 (ja) | 倒立振子型移動体 | |
JP2011110980A (ja) | 倒立振子型移動体の電装部品冷却装置 | |
JP5337648B2 (ja) | 倒立振子型移動体 | |
JP2011042181A (ja) | 車両 | |
JP5432649B2 (ja) | 倒立振子型移動体 | |
JP2011063155A (ja) | 倒立振子型移動体 | |
JP2011042199A (ja) | 車両 | |
JP2011063212A (ja) | 倒立振子型移動体 | |
JP2011063218A (ja) | 倒立振子型移動体 | |
JP2011063211A (ja) | 倒立振子型移動体 | |
JP5325722B2 (ja) | 倒立振子型移動体 | |
JP5310410B2 (ja) | 同軸二輪車およびその制御方法 | |
JP5325724B2 (ja) | 倒立振子型移動体およびその制御装置 | |
JP2011063216A (ja) | 倒立振子型移動体 | |
JP2023012867A (ja) | 移動装置、及び移動装置の運搬方法 | |
JP2011063161A (ja) | 倒立振子型移動体 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 200980162034.8 Country of ref document: CN |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 09849435 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2011531649 Country of ref document: JP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 13395578 Country of ref document: US |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 09849435 Country of ref document: EP Kind code of ref document: A1 |