INVERTED MOVING BODY

• Main Authors: KIDA YUSUKE, TAIRA TETSUYA, NAKAYAMA TAKAHIRO
• Format: Patent
• Language: English; Japanese
• Published: 03.09.2015
• Subjects: CYCLE AXLE SUSPENSIONS; CYCLE FRAMES; CYCLE SIDE-CARS, FORECARS, OR THE LIKE; CYCLE STEERING DEVICES; CYCLES; LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS; PERFORMING OPERATIONS; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FORCYCLES; TRANSPORTING

PROBLEM TO BE SOLVED: To provide an inverted moving body which can further accurately estimate a disturbance when the disturbance occurs.SOLUTION: This inverted moving body comprises: a gyroscope which detects angular speed of the inverted moving body; an acceleration sensor which detects the acceleration of the inverted moving body; a direction indication sensor which detects the movement indication information of the inverted moving body; a calculation part which estimates a disturbance of the inverted moving body on the basis of the angular speed detected by the gyroscope, the acceleration detected by the acceleration sensor, and a direction indication value detected by the direction indication sensor, estimates a difference generated by the disturbance in the acceleration which is detected by the acceleration sensor, and estimates a difference of the movement generated by the disturbance in the inverted moving body; and a control part which corrects a value of the acceleration detected by the acceleration sensor by using the difference of the acceleration which is estimated by the calculation part, and corrects the difference of the movement of the inverted moving body. 【課題】外乱が発生した場合にその推定をより正確に行うことが可能な倒立型移動体を提供すること。【解決手段】本発明にかかる倒立型移動体は、前記倒立型移動体の角速度を検出するジャイロスコープと、前記倒立型移動体の加速度を検出する加速度センサと、前記倒立型移動体の移動指示情報を検出する方向指示センサと、前記ジャイロスコープが検出した前記角速度と、前記加速度センサが検出した前記加速度と、前記方向指示センサが検出した方向指示値に基づいて、前記倒立型移動体の外乱を推定し、前記加速度センサが検出した前記加速度において当該外乱により生じた偏差を推定すると共に、前記倒立型移動体において当該外乱により生じた移動の偏差を推定する算出部と、前記算出部が推定した前記加速度の前記偏差を用いて前記加速度センサが検出した前記加速度の値を補正すると共に、前記倒立型移動体の移動の偏差を修正する制御を行う制御部を備える。【選択図】図２