Inverted pendulum type vehicle

摘要

An inverted pendulum type vehicle capable of making mounting and dismounting of an occupant smooth. A control device of an inverted pendulum type vehicle includes a control gain adjustment unit. The control gain adjustment unit changes the magnitude of the control gain used for motion control of an actuator device according to the tilting state of an occupant riding section in a situation where the stepping on of an occupant to the occupant riding section is executed or in a situation where the stepping off of the occupant from the occupant riding section is executed.

主权项

1. An inverted pendulum vehicle comprising:
a moving motion unit configured to be capable of moving on a floor surface; an actuator device for driving the moving motion unit; a base that incorporates the moving motion unit and the actuator device; an occupant riding section incorporated into the base for tilting with respect to a vertical direction; a tilting state detection unit for detecting the tilting state of the occupant riding section; and a control device configured for controlling motion of the actuator device at least according to the tilting state of the occupant riding section detected by the tilting state detection unit, wherein the control device is configured to include control gain adjusting means for changing, according to the detected tilting state of the occupant riding section, the magnitude of a control gain used for controlling motion of the actuator device according to the tilting state of the occupant riding section, in a period in which the state of the inverted pendulum type vehicle shifts from a stop support state to a support release reference riding state at the time the occupant steps onto the occupant riding section, or in a period shifting from the support release reference riding state to the stop support state at the time the occupant steps off from the occupant riding section, the stop support state being a state supported by a support mechanism and stopping, and the support release reference riding state being a state where an occupant rides on the occupant riding section in a reference altitude state and support of the inverted pendulum type vehicle by the support mechanism is released.