Inverted pendulum type vehicle

摘要

An inverted pendulum type vehicle for improving the steering performance and the comfort of the vehicle. A control device of an inverted pendulum type vehicle including a moving motion unit driven by an actuator device controls the actuator device so that the position of the center of gravity of the entirety of an occupant riding on an occupant riding section and the vehicle is shifted from the position of a balance state in the request direction of movement of the center of gravity of the occupant recognized from a predetermined kind of state of the vehicle.

主权项

1. An inverted pendulum vehicle comprising:
a moving motion unit configured to be capable of moving in all directions on a floor surface; an actuator device for driving the moving motion unit; a base that incorporates the moving motion unit and the actuator devices; an occupant riding section incorporated into the base so as to be tiltable with respect to a vertical direction; a tilting state detection unit for detecting the tilting state of the occupant riding section; a control device configured for controlling the motion of the actuator devices to balance the position of a center of gravity of the entirety of an occupant riding on the occupant riding section and the inverted pendulum vehicle according to the tilting state of the occupant riding section detected at least by the tilting state detection unit; the inverted pendulum vehicle further includes vehicle state detection units for detecting a predetermined kind of state of the inverted pendulum vehicle for recognizing a moving request of the center of gravity of the occupant riding on the occupant riding section; the control device is configured to control the actuator devices so that the position of the center of gravity of the entirety of the occupant riding on the occupant riding section and the inverted pendulum vehicle is shifted from the position of a balance state of the center of gravity of the entirety in the direction of a request for movement of the center of gravity of the occupant recognized from a state detected by the vehicle state detection units; wherein the predetermined kind of state detected by the vehicle state detection units includes at least one of:
a command of a turning request of the inverted pendulum vehicle by the occupant riding on the occupant riding section;a measured value of an actual yaw rate of the inverted pendulum vehicle;a center of gravity of the entirety moving amount that is a relative moving amount of the center of gravity of the entirety with respect to the occupant riding section generated because the occupant riding on the occupant riding section relatively shifts the center of gravity of the occupant with respect to the occupant riding section; anda temporal change rate of the center of gravity of the entirety moving amount; wherein the predetermined kind of state detected by the vehicle state detection units includes the center of gravity of the entirety moving amount or a temporal change rate of the center of gravity of the entirety moving amount; and the control device is configured to control the actuator devices wherein the larger the magnitude of the center of gravity of the entirety moving amount or the magnitude of the temporal change rate of the center of gravity of the entirety moving amount is, the shift amount of the position of the center of gravity of the entirety increases toward the direction the same as the center of gravity of the entirety moving amount or the direction the same as the temporal change rate of the center of gravity of the entirety moving amount.