Inverted vehicle and its control method

摘要

An inverted vehicle 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, an acceleration detection unit that detects accelerations along the axes, 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.

主权项

1. An inverted vehicle for which inversion control is performed, comprising:
a first sensor that detects an angular speed around an axis inclined from a pitch axis of the inverted vehicle by a first predetermined angle on a plane perpendicular to a yaw axis of the inverted vehicle; a second sensor that detects an angular speed around an axis inclined from the pitch axis of the inverted vehicle by a second predetermined angle on the plane perpendicular to the yaw axis of the inverted vehicle; a third sensor that detects an angular speed around the pitch axis of the inverted vehicle; a pitch-axis acceleration detection unit that detects an acceleration along the pitch axis of the inverted vehicle; a roll-axis acceleration detection unit that detects an acceleration along a roll axis of the inverted vehicle; a yaw-axis acceleration detection unit that detects an acceleration along the yaw axis of the inverted vehicle; and a control unit that performs the inversion control based on the angular speeds detected by the first sensor, the second sensor, and the third sensor respectively, wherein the control unit puts a specific safety function in motion based on a mutual relation among a first angular speed around the pitch axis of the inverted vehicle calculated based on the angular speeds detected by the first sensor and the second sensor respectively, a second angular speed around the pitch axis of the inverted vehicle detected by the third sensor, and a third angular speed around the pitch axis of the inverted vehicle calculated based on the accelerations detected by the pitch-axis acceleration detection unit, the roll-axis acceleration detection unit, the yaw-axis acceleration detection unit respectively.