JP5355328B2 - Control device for inverted pendulum type vehicle - Google Patents

Control device for inverted pendulum type vehicle Download PDF

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Publication number
JP5355328B2
JP5355328B2 JP2009218313A JP2009218313A JP5355328B2 JP 5355328 B2 JP5355328 B2 JP 5355328B2 JP 2009218313 A JP2009218313 A JP 2009218313A JP 2009218313 A JP2009218313 A JP 2009218313A JP 5355328 B2 JP5355328 B2 JP 5355328B2
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footrest
mode
boarding
occupant
inclination angle
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JP2011068165A (en
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透 竹中
一志 秋元
慎一郎 小橋
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本田技研工業株式会社
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K1/00Unicycles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62JCYCLE SADDLES OR SEATS; ACCESSORIES PECULIAR TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS, CYCLE PROTECTORS
    • B62J25/00Foot-rests; Rigidly-mounted knee grips, e.g. on petrol tank
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L2220/00Electrical machine types; Structures or applications thereof
    • B60L2220/40Electrical machine applications
    • B60L2220/46Wheel motors, i.e. motor connected to only one wheel
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L2240/00Control parameters of input or output; Target parameters
    • B60L2240/40Drive Train control parameters
    • B60L2240/42Drive Train control parameters related to electric machines
    • B60L2240/421Speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L2240/00Control parameters of input or output; Target parameters
    • B60L2240/40Drive Train control parameters
    • B60L2240/42Drive Train control parameters related to electric machines
    • B60L2240/423Torque
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L2240/00Control parameters of input or output; Target parameters
    • B60L2240/40Drive Train control parameters
    • B60L2240/46Drive Train control parameters related to wheels
    • B60L2240/465Slip
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/64Electric machine technologies for applications in electromobilty
    • Y02T10/642Control strategies of electric machines for automotive applications

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control device of an inverted pendulum type vehicle allowing an occupant to easily perform a getting-on action or a getting-off action. <P>SOLUTION: A moving operation part control means 50 of this inverted pendulum type vehicle 1 in which the occupant gets on a footrest part 3 at his standing attitude determines a target inclined angle for a transition time when a parallel direction of a right footrest part 3R and a left footrest part 3L of the footrest part 3 is inclined to a horizontal direction for a period when at least only one foot of the occupant is placed on the footrest part 3 in a mode for the transition time when the occupant gets on/off. The moving operation part control means 50 controls a moving operation of a moving operation part 5 so that an actual inclined angle of the footrest part 3 may be close to the target inclined angle. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to a control device for an inverted pendulum type vehicle that is movable in all directions on a floor surface.

  In an inverted pendulum type vehicle, a passenger's riding section that is tiltable with respect to the vertical direction is assembled to a base body on which a moving operation unit that moves on the floor surface and an actuator device that drives the moving operation unit are assembled. In order to keep the inclination angle of the riding section at a certain target angle (in order to prevent the riding section from tilting), it is necessary to move the moving operation unit in such a manner that the fulcrum of the inverted pendulum is moved. It is a vehicle.

  In addition, an inverted pendulum type that includes a moving operation unit that can move in all directions (two-dimensional all directions) on the floor surface, and that allows the riding section of the occupant to tilt about two axes in the front-rear direction and the left-right direction. As the vehicle control technology, for example, the one shown in Patent Document 1 has been proposed by the present applicant.

  In this Patent Document 1, a vehicle base on which a passenger's riding section is assembled is provided so as to be tiltable about two axes, a front-rear axis and a left-right axis, with respect to a spherical moving operation unit. A control technique for an inverted pendulum type vehicle is described. In this technique, the deviation between the measured value of the inclination angle of the substrate (= the inclination angle of boarding) and the target inclination angle is brought close to “0”, and the speed of the motor as the actuator device (and hence the moving speed of the moving operation unit) is adjusted. The motor drive torque (a set of the motor drive torque moved in the front-rear direction and the motor drive torque moved in the left-right direction) is sequentially set so that the deviation between the measured value and the target speed approaches “0”. It is determined. Then, the movement operation of the movement operation unit is controlled via the motor in accordance with the determined drive torque.

  In addition, as a vehicle having a moving operation unit that can move in all directions on the floor surface and capable of functioning as an inverted pendulum type vehicle, for example, those shown in Patent Documents 2 and 3 have been proposed by the present applicant. .

Patent No.3070015 PCT International Publication WO / 2008/132778 PCT International Publication WO / 2008/127279

  By the way, for example, an inverted pendulum type vehicle as shown in FIG. 10 of Patent Document 2 or FIG. 8 of Patent Document 3, ie, a footrest portion (step) on which the occupant places his left and right feet is provided as a riding portion. In an inverted pendulum type vehicle in which an occupant stands on the footrest part, when the occupant tries to board, the occupant usually puts one foot on the footrest part, The act of placing the other foot on the footrest is performed. Further, when the occupant is about to get off, the occupant usually performs an act of releasing one of the feet from the footrest and grounding, and then causing the other foot to be detached from the footrest and grounding.

  In this case, during the boarding action or the getting-off action, if the movement operation unit is controlled in the same manner as the state where the occupant is on board, the footrest part together with the base for the boarding action or the getting-off action is used. Due to the inclination, the moving operation unit tends to move.

  However, in the conventional control technology as shown in Patent Document 1, the control technology of the inverted pendulum type vehicle in the boarding action and the getting-off action and the problems in the control are not sufficiently studied. For this reason, there is a possibility that skill is required to smoothly perform the boarding action and the getting-off action.

  The present invention has been made in view of such a background, and an object of the present invention is to provide an inverted pendulum type vehicle control device that enables an occupant to easily perform a boarding action and a getting-off action.

In order to achieve such an object, the control apparatus for an inverted pendulum type vehicle according to one aspect of the present invention can move in all directions including a first direction and a second direction orthogonal to each other on the floor surface. An actuator device for driving the moving operation unit; a base body on which the moving operation unit and the actuator device are assembled; and an axis around the first direction and an axis in the second direction. An occupant footrest portion that is tiltable with respect to the vertical direction around two axes, and the occupant arranges both feet in the left-right direction with an interval between them. A control device for an inverted pendulum type vehicle configured to be able to board on the footrest in a standing posture.
As the operation mode of the vehicle for controlling the moving operation unit, a mode for boarding action which is a transient operation mode when the occupant tries to board the footrest unit, and the occupant from above the footrest unit A transitional mode consisting of at least one mode of a mode for getting off which is a transient operation mode when attempting to get off, and in each operation mode including the mode for transitional period, A moving operation unit control means for controlling the moving operation via the actuator device;
A footrest detecting means for generating an output according to whether or not each foot of an occupant is placed on the footrest portion;
The moving operation unit control means, wherein in the transition period for the mode, of the period from the start to the end of the transition period for the mode, the output of at least the footrest detecting means, of the legs of the occupant In a period including a one-leg rest period that is an output indicating that only one leg is placed on the footrest, the transitional target inclination angle of the footrest is determined according to the output of the footrest detection means. Controlling the movement operation of the movement operation unit so as to bring the actual inclination angle of the footrest part closer to the determined target inclination angle for the transition period,
The target inclination angle for the transition period determined by the moving operation unit control means in at least the one leg rest period in the transition mode is such that the output of the foot rest detection means is such that only the right foot of the occupant is in the foot rest section. In the case of an output indicating that the footrest is placed, at least the horizontal distance between the right footrest portion of the footrest portion and the tilt center of the footrest portion is the right footrest portion of the footrest portion. It is an angle that is relatively smaller than the horizontal distance in a state where the left footrest part is parallel to the horizontal direction, and the output of the footrest detection means is that only the occupant's left foot is placed on the footrest part The horizontal distance between at least the left footrest portion of the footrest portion and the tilt center of the footrest portion is the right footrest portion and the left footrest portion of the footrest portion. In the state where the Characterized in that it is a relatively small angle than a horizontal distance (first invention).

  In the present invention, the fact that the movement operation unit is “movable in all directions including the first direction and the second direction” means that the movement direction is an axial direction orthogonal to the first direction and the second direction. The direction of the velocity vector of the moving operation unit at each moment when viewed means that the direction of an arbitrary angular direction around the axial direction can be taken by driving the moving operation unit by the actuator device. . In this case, the axial direction is generally a vertical direction or a direction perpendicular to the floor surface. Further, “orthogonal” in the present invention is not necessarily orthogonal in the strict sense, and may be slightly deviated from orthogonal in the strict meaning without departing from the essence of the present invention.

  Further, in the present invention, “floor” does not mean a floor in a normal sense (such as an indoor floor) but also includes an outdoor ground or road surface.

According to the first invention, the period and in the transition period for the mode, the moving operation unit control means, out of the period from the start to the end of the transition period for the mode, including at least the one foot placed period The transition period target inclination angle is determined according to the output of the footrest detection means, and the moving operation is performed so that the actual inclination angle of the footrest section is brought close to the determined transition period target inclination angle. Controls the movement of parts. For this reason, in a state in which the actual inclination angle of the footrest portion coincides with or substantially coincides with the transitional target inclination angle, the movement operation of the movement operation portion hardly occurs.

  Here, according to various studies by the inventors of the present application, in the state where the occupant is placing only the right foot of the both feet on the footrest during the one-leg rest period in the boarding action or the getting-off action, Of these, it is preferable that the right footrest portion is located immediately above (in the vertical direction) or substantially above the center of tilting (tilting fulcrum) of the footrest portion in order to smoothly perform the boarding action or the getting-off action. In addition, in the state where the occupant is placing only the left foot of the both feet on the foot rest during the one foot rest period, the left foot rest of the foot rest is directly above or near the tilt center of the foot rest. It is preferable that the boarding action or the getting-off action is performed smoothly.

  This is because during the boarding action, the period until the occupant who is not on the footrest part (the other leg) is finally placed on the footrest part, or during the dismounting action, This is because it is easy for the occupant to keep the center of gravity at a position almost immediately above the tilt center (tilt fulcrum) of the footrest during the period until the vehicle is in contact with the floor.

  Therefore, in the first aspect of the invention, the moving operation unit control means outputs at least the right foot of the occupant on the footrest portion during at least the one leg resting period in the transition mode. When the output indicates that the foot rests (hereinafter sometimes referred to as a right foot resting state), at least the horizontal distance between the right foot rest of the foot rest and the tilt center of the foot rest is the foot rest. An angle that is relatively smaller than the horizontal distance in a state where the right footrest portion and the left footrest portion of the placement portion are arranged in parallel in the horizontal direction is determined as the transitional target inclination angle. Further, the movement operation unit control means indicates that the output of the footrest detection means indicates that only the left foot of the occupant is placed on the footrest portion at least in the one footrest period in the transition mode. In the case of an output (hereinafter sometimes referred to as a right footrest state), at least the horizontal distance between the left footrest portion of the footrest portion and the tilting center of the footrest portion is equal to that of the footrest portion. An angle that is relatively smaller than the horizontal distance in a state where the right footrest portion and the left footrest portion are aligned in the horizontal direction is determined as the transitional target inclination angle.

  For this reason, in the one-leg resting period in the transitional mode, the transitional target inclination angle determined as described above, that is, the actual inclination angle of the footrest part, that is, the boarding action and the getting-off action are easily performed. It is difficult for the movement operation of the movement operation unit to occur in a state where it matches or substantially matches the target inclination angle.

  As a result, according to the first invention, it is possible to make it easier for the occupant to perform the boarding action and the getting-off action.

Next, the inverted pendulum type vehicle control apparatus according to another aspect of the present invention moves in all directions including a first direction and a second direction orthogonal to each other on the floor surface in order to achieve the above-described object. Possible moving operation unit, an actuator device for driving the moving operation unit, a base body on which the moving operation unit and the actuator device are assembled, and an axis around the first direction and the first direction. An occupant's footrest provided so as to be tiltable with respect to the vertical direction around the two axes of the two directions, and the occupant arranges both feet in the left-right direction with an interval between them. A control device for an inverted pendulum type vehicle configured to be able to board on the footrest portion in an upright posture placed on the footrest portion,
As the operation mode of the vehicle for controlling the moving operation unit, a mode for boarding action which is a transient operation mode when the occupant tries to board the footrest unit, and the occupant from above the footrest unit A transitional mode consisting of at least one mode of a mode for getting off which is a transient operation mode when attempting to get off, and in each operation mode including the mode for transitional period, A moving operation unit control means for controlling the moving operation via the actuator device;
A footrest detecting means for generating an output according to whether or not each foot of an occupant is placed on the footrest portion;
The moving operation unit control means, wherein in the transition period for the mode, of the period from the start to the end of the transition period for the mode, the output of at least the footrest detecting means, of the legs of the occupant In a period including a one-leg rest period that is an output indicating that only one leg is resting on the foot rest, the parallel direction of the right foot rest and the left foot rest of the foot rest is from the horizontal direction. The transitional target inclination angle in the inclined direction is determined according to the output of the footrest detection means, and the actual inclination angle of the footrest portion is made closer to the determined transitional target inclination angle. Control the movement operation of the movement unit,
The target inclination angle for the transition period determined by the moving operation unit control means in at least the one leg rest period in the transition mode is such that the output of the foot rest detection means is such that only the right foot of the occupant is in the foot rest section. In the case of an output indicating that the vehicle is placed, the right footrest is at an angle that is relatively higher than the left footrest, and only the occupant's left foot is placed on the footrest. In the case of the output indicating the above, the left footrest portion is at an angle that is relatively higher than the right footrest portion (second invention).

According to the second invention, as with the first invention, wherein in the transition period for the mode, the moving operation unit control means, out of the period from the start to the end of the transition period for the mode, at least In the period including the one foot rest period, the transitional period target inclination angle is determined according to the output of the footrest detection means, and the actual inclination angle of the footrest part is set to the determined transitional period target inclination angle. The moving operation of the moving operation unit is controlled so as to be close to each other. For this reason, in a state in which the actual inclination angle of the footrest portion coincides with or substantially coincides with the transitional target inclination angle, the movement operation of the movement operation portion hardly occurs.

  Here, as described above, in the boarding action, the occupant is in a period until the foot (the other leg) that is not on the footrest part is finally placed on the footrest part, or in the dismounting action. In the period until the other foot is brought into contact with the floor surface, it is easier for the occupant to keep its center of gravity at a position almost directly above the tilting center of the footrest (tilting fulcrum). It is preferable for carrying out smoothly.

  And this preferable form is realizable by the following aspects, for example.

  That is, in the state where the one foot is placed in the boarding action or the getting off action, in the state where the occupant is placing only the right foot on the foot rest portion of the both feet, the right foot rest portion of the foot rest portion is more relative than the left foot rest portion. Therefore, the parallel direction of the right footrest and the left footrest is set to be inclined with respect to the horizontal direction so that the position is vertically high (position in the vertical direction). Further, in the state where the occupant is placing only the left foot of the both feet on the foot rest during the one foot rest period, the left foot rest of the foot rest is relatively higher than the right foot rest (vertical The parallel direction of the right footrest portion and the left footrest portion is inclined with respect to the horizontal direction.

  More specifically, the state in which the parallel direction of the right foot rest and the left foot rest is in the horizontal direction is more specifically, the contact surface of the right foot rest with the bottom surface of the right foot and the contact of the left foot rest with the bottom surface of the left foot. This means that the surface is at the same or almost the same height.

  Therefore, in the second aspect of the invention, the movement operation unit control means outputs the output of the footrest detection means so that only the right foot of the occupant is placed on the footrest portion at least in the one footrest period in the transition mode. In the right footrest state, which is an output indicating that the right footrest is in an output, the angle of the footrest portion at which the right footrest portion is relatively higher than the left footrest portion is determined as the transition target inclination angle. Further, the movement operation unit control means indicates that the output of the footrest detection means indicates that only the left foot of the occupant is placed on the footrest portion at least in the one footrest period in the transition mode. In the right footrest state that is an output, the angle of the footrest portion at which the left footrest portion is relatively higher than the right footrest portion is determined as the transitional target inclination angle.

  For this reason, in the one-leg resting period in the transitional mode, the transitional target inclination angle determined as described above, that is, the actual inclination angle of the footrest part, that is, the boarding action and the getting-off action are easily performed. It is difficult for the movement operation of the movement operation unit to occur in a state where it matches or substantially matches the target inclination angle.

  As a result, according to the second invention, it is possible to make it easier for the occupant to perform the boarding action and the getting-off action. In particular, when the transitional mode includes the boarding action mode, the height of the footrest part on the other foot side to be placed on the footrest part from now on during the one leg resting period in the boarding action Since the height is relatively low, it is easy to quickly place the other foot on the corresponding footrest.

In the first and second aspects of the invention, the foot placed period including the period of time from the start of the transition period for mode until the end, for example, legs only one leg of the passenger footrest It may include a period in a state where the state placed on is temporarily eliminated. Moreover, the start and end of the transition period for the mode may be automatically determined, or may be adapted to artificially determined according to their timing to the occupant of the switch operation or the like.

  Further, the transitional target inclination angle may be determined to be a constant value (fixed value) during the period including the one leg resting period. For example, the transitional target inclination angle may be gradually changed immediately after the start or end of the period. You may decide to.

  In the first and second aspects of the invention, for example, the front-rear direction of an occupant riding on the footrest in the first direction, and the left-right direction of the occupant riding on the footrest in the second direction (see above) In the period including the one leg resting period, a component around the axis in the second direction of the target inclination angle for the transition period in the period including the one leg resting period is used. The state and the left foot-mounted state need not be different from each other and may be the same. In other words, in order to incline the parallel direction of the right footrest portion and the left footrest portion in the right footrest state and the left footrest state in mutually opposite directions, the first of the transitional target inclination angles is the first. Only the components around the axis in the direction (the front-rear direction of the occupant) may be different from each other between the right footrest state and the left footrest state.

  In the second aspect of the invention, when the operation mode includes the mode for boarding action and the on-boarding mode which is an operation mode in a state where an occupant is on the footrest, In the on-boarding mode, the control means is configured to set the actual position of the footrest portion to a predetermined target inclination angle during boarding in which the parallel direction of at least the right footrest portion and the left footrest portion of the footrest portion is a horizontal direction. The movement operation unit is controlled so as to approach the inclination angle of the vehicle, and in the riding action mode, the output of the footrest detection means indicates that only one foot of the occupant is placed on the footrest portion. When the output changes to an output indicating that both feet of the occupant are placed on the footrest, the target inclination angle of the footrest is changed from the target inclination angle for the transition period to the target inclination angle for the on-boarding. To change And sea urchin decision, it is preferable to control the moving operation part to approach the actual inclination angle of the footrest to the desired tilt angle and the determined (third invention).

  According to the third aspect of the present invention, in the boarding action mode, the state changes from a state in which only one occupant's foot is placed on the footrest portion to a state in which both occupant feet are placed on the footrest portion. In this case, since the target inclination angle of the footrest portion is determined to be changed from the target inclination angle for the transition period to the target inclination angle for boarding, from the control of the movement operation unit in the mode for boarding action Thus, the shift to the control of the moving operation unit in the on-board mode can be performed smoothly.

  When the target inclination angle of the footrest is changed from the transitional target inclination angle to the on-boarding target inclination angle, it is desirable to gradually change the target inclination angle.

  In addition, as the target inclination angle for boarding, for example, the center of gravity of the entire portion (including the occupant) that tilts integrally with the footrest portion in the combined system of the vehicle and the occupant is the footrest portion. It is preferable to adopt an inclination angle of the footrest portion that is positioned vertically above the tilting fulcrum of the foot.

  In the second invention or the third invention, when the operation mode includes the mode for getting off the vehicle and the non-boarding mode that is an operation mode in a state in which the occupant has left the vehicle, In the non-boarding mode, the movement operation unit control means is configured such that at least the right footrest portion and the left footrest portion of the footrest portion have a horizontal direction in which the parallel direction of the right footrest portion and the left footrest portion is the non-boarding target inclination angle. The moving operation unit is controlled so as to approach the actual inclination angle of the vehicle, and in the dismounting action mode, the output of the footrest detection means is such that only one foot of the occupant is placed on the footrest portion. When the output changes to an output indicating that both feet of the occupant are not placed on the footrest, the target inclination angle of the footrest is changed from the target inclination angle for the transition period to the non-boarding Target tilt angle To determine to change, it is preferable to control the moving operation part to approach the actual inclination angle of the footrest to the desired tilt angle and the determined (fourth invention).

  According to the fourth aspect of the present invention, in the dismounting action mode, a state in which only one occupant's foot is placed on the footrest is not placed on the footrest (both passengers). In the state of getting off), the target inclination angle of the footrest portion is determined to be changed from the target inclination angle for the transition period to the target inclination angle for non-boarding. It is possible to smoothly perform the transition from the control of the moving operation unit at the control to the control of the moving operation unit in the non-boarding mode.

  In addition, when changing the target inclination angle of the footrest from the transitional target inclination angle to the non-boarding target inclination angle, it is desirable to change the target inclination angle quickly.

  Further, as the non-boarding target inclination angle, for example, the center of gravity of the entire portion of the vehicle that tilts integrally with the footrest portion is positioned above the tilting fulcrum of the footrest portion in the vertical direction. It is preferable to adopt the inclination angle of the footrest portion.

  Supplementally, examples of the control mode of the moving operation unit of the moving operation unit by the moving operation unit control means in each operation mode include the following modes. That is, the moving operation unit control means, for example, sets the control operation amount that defines the driving force applied to the moving operation unit, at least the measured value of the actual inclination angle of the riding unit and the target inclination angle (for the transient period). The inclination deviation is determined to be close to “0” according to the inclination deviation that is a deviation from the target inclination angle, the target inclination angle for boarding or the target inclination angle for non-boarding). Alternatively, the movement operation unit control means, for example, in addition to bringing the inclination deviation closer to “0”, at least the inclination so as to bring the measured value of the moving speed of a predetermined representative point of the vehicle closer to “0”. The control operation amount is determined according to the deviation and the speed deviation. In this case, as the representative point, for example, a point (such as a center of gravity) that can be tilted integrally with the footrest portion can be used. In addition, when using the measured value of the said inclination angle, the inclination angle measurement means which produces | generates the output according to the actual inclination angle of the said footrest part is provided. Similarly, when the measured value of the moving speed of the representative point is used, representative point speed measuring means for generating an output corresponding to the actual moving speed of the representative point is provided.

The front view of the inverted pendulum type vehicle of embodiment. The side view of the inverted pendulum type vehicle of embodiment. The figure which expands and shows the lower part of the inverted pendulum type vehicle of embodiment. The perspective view of the lower part of the inverted pendulum type vehicle of embodiment. The perspective view of the movement operation part (wheel body) of the inverted pendulum type vehicle of embodiment. The figure which shows the arrangement | positioning relationship between the movement operation part (wheel body) and free roller of the inverted pendulum type vehicle of embodiment. The flowchart which shows the process of the control unit of the inverted pendulum type vehicle of embodiment. The figure which shows the inverted pendulum model expressing the dynamic behavior of the inverted pendulum type vehicle of embodiment. FIG. 8 is a block diagram showing processing functions related to STEP 5 in FIG. 7. FIG. 10 is a block diagram showing processing functions of a gain adjustment unit 78 shown in FIG. 9. The block diagram which shows the processing function of the limit process part 86 (or the limit process part 100 shown in FIG. 12) shown in FIG. The block diagram which shows the processing function of the gravity center speed restriction | limiting part 76 shown in FIG. The block diagram which shows the processing function of the attitude | position control calculating part 80 shown in FIG. The flowchart which shows the subroutine processing of STEP4 of FIG. The flowchart which shows the subroutine processing of STEP12 of FIG. The flowchart which shows the subroutine processing of STEP13 of FIG. The flowchart which shows the subroutine processing of STEP14 of FIG. The flowchart which shows the subroutine processing of STEP14 of FIG. The flowchart which shows the subroutine processing of STEP15 of FIG.

  One embodiment of the present invention will be described below. First, the structure of an inverted pendulum type vehicle in the present embodiment will be described with reference to FIGS.

  As shown in FIGS. 1 and 2, the inverted pendulum type vehicle 1 according to the present embodiment is omnidirectional (front-rear direction and left-right direction) on the floor surface while being grounded to the riding section 3 of the occupant (driver) and the floor surface. A moving operation unit 5 movable in all directions including two directions), an actuator device 7 for applying power for driving the moving operation unit 5 to the moving operation unit 5, and the riding unit 3, And a base 9 on which the operating unit 5 and the actuator device 7 are assembled.

  Here, in the description of the present embodiment, “front-rear direction” and “left-right direction” respectively match or substantially coincide with the front-rear direction and the left-right direction of the upper body of the occupant who has boarded the riding section 3 in a standard posture. Means direction. Note that the “standard posture” is a posture assumed by design with respect to the riding section 3, and the trunk axis of the occupant's upper body is generally directed vertically and the upper body is not twisted. It is posture.

  In this case, in FIG. 1, the “front-rear direction” and the “left-right direction” are the direction perpendicular to the paper surface and the left-right direction of the paper surface, respectively. In FIG. It is the left-right direction of the paper surface and the direction perpendicular to the paper surface. In the description of the present embodiment, the suffixes “R” and “L” attached to the reference numerals are used to mean the right side and the left side of the vehicle 1, respectively.

  The base 9 includes a lower frame 11 in which the moving operation unit 5 and the actuator device 7 are assembled, and a support frame 13 extending upward from the upper end of the lower frame 11.

  The lower frame 11 includes a pair of cover members 21R and 21L arranged so as to face each other in a bifurcated manner with a space in the left-right direction. The upper end portions (bifurcated branch portions) of these cover members 21R and 21L are connected via a hinge shaft 23 having a longitudinal axis, and one of the cover members 21R and 21L is hinged relative to the other. It can swing around the shaft 23. In this case, the cover members 21R and 21L are urged by a spring (not shown) in a direction in which the lower end side (the bifurcated tip side) of the cover members 21R and 21L is narrowed.

  The lower frame 11 is provided with a footrest portion as a passenger's riding portion 3. The footrest 3 is composed of a pair of steps 3R and 3L for placing the right and left feet of the occupant, respectively. The right step 3R protrudes so as to protrude rightward from the outer surface portion of the cover member 3R, and the left step 3L protrudes so as to protrude leftward from the outer surface portion of the cover member 21L. In the inverted pendulum type vehicle 1 of the present embodiment (hereinafter simply referred to as the vehicle 1), the occupant is placed on the vehicle 1 in a standing posture with both feet placed on the steps 3R and 3L. In this boarding state, both feet of the occupant are lined up in the left-right direction of the occupant with the wheel body 5 interposed therebetween. Steps 3R and 3L correspond to the right foot rest and the left foot rest in the present invention, respectively.

  In addition, a grip portion 15 that is held by an occupant standing on the footrest portion 3 with his / her hand is fixed to the upper portion of the support frame 13. The gripping portion 15 includes a gripping portion 15R that protrudes rightward from the upper portion of the support frame 13, and a gripping portion 15L that protrudes leftward.

  The moving operation unit 5 and the actuator device 7 are disposed between the cover members 21R and 21L of the lower frame 11. The structures of the moving operation unit 5 and the actuator device 7 will be described with reference to FIGS.

  The moving operation unit 5 and the actuator device 7 exemplified in the present embodiment have the same structure as that disclosed in FIG. Therefore, in the description of the present embodiment, the matters described in Patent Document 2 regarding the configurations of the moving operation unit 5 and the actuator device 7 are simply described.

  In the present embodiment, the moving operation unit 5 is a wheel body formed in an annular shape from a rubber-like elastic material, and has a substantially circular cross-sectional shape. Due to its elastic deformation, the moving operation unit 5 (hereinafter referred to as the wheel body 5) has a circular cross section center C1 (more specifically, a circular cross section center C1 as shown by an arrow Y1 in FIGS. 5 and 6). And can be rotated around a circumferential line that is concentric with the axis of the wheel body 5.

  The wheel body 5 is disposed between the cover members 21R and 21L with its axis C2 (axis C2 orthogonal to the diameter direction of the entire wheel body 5) directed in the left-right direction. Ground to the floor at the lower end of the outer peripheral surface.

  The wheel body 5 rotates around the axis C2 of the wheel body 5 as shown by an arrow Y2 in FIG. 5 (operation to rotate on the floor surface) by driving by the actuator device 7 (details will be described later). And an operation of rotating around the cross-sectional center C1 of the wheel body 5 can be performed. As a result, the wheel body 5 can move in all directions on the floor surface by a combined operation of these rotational operations.

  The actuator device 7 includes a rotating member 27R and a free roller 29R interposed between the wheel body 5 and the right cover member 21R, and a rotating member interposed between the wheel body 5 and the left cover member 17L. 27L and a free roller 29L, an electric motor 31R as an actuator disposed above the rotating member 27R and the free roller 29R, and an electric motor 31L as an actuator disposed above the rotating member 27L and the free roller 29L. .

  The electric motors 31R and 31L have their respective housings attached to the cover members 21R and 21L. Although illustration is omitted, the power sources (capacitors) of the electric motors 31 </ b> R and 31 </ b> L are mounted at appropriate positions on the base 9 such as the support frame 13.

  The rotating member 27R is rotatably supported by the cover member 21R via a support shaft 33R having a horizontal axis. Similarly, the rotation member 27L is rotatably supported by the cover member 21L via a support shaft 33L having a horizontal axis. In this case, the rotation axis of the rotation member 27R (axis of the support shaft 33R) and the rotation axis of the rotation member 27L (axis of the support shaft 33L) are coaxial.

  The rotating members 27R and 27L are connected to the output shafts of the electric motors 31R and 31L via power transmission mechanisms including functions as speed reducers, respectively, and the power (torque) transmitted from the electric motors 31R and 31L, respectively. It is rotationally driven by. Each power transmission mechanism is of a pulley-belt type, for example. That is, as shown in FIG. 3, the rotating member 27R is connected to the output shaft of the electric motor 31R via the pulley 35R and the belt 37R. Similarly, the rotating member 27L is connected to the output shaft of the electric motor 31L via a pulley 35L and a belt 37L.

  The power transmission mechanism may be constituted by, for example, a sprocket and a link chain, or may be constituted by a plurality of gears. In addition, for example, the electric motors 31R and 31L are arranged to face the rotating members 27R and 27L so that the respective output shafts are coaxial with the rotating members 27R and 27L, and the electric motors 31R and 31L are respectively arranged. The output shaft may be connected to each of the rotating members 27R and 27L via a speed reducer (such as a planetary gear device).

  Each rotating member 27R, 27L is formed in the same shape as a truncated cone that decreases in diameter toward the wheel body 5, and its outer peripheral surface is a tapered outer peripheral surface 39R, 39L.

  A plurality of free rollers 29R are arranged around the tapered outer peripheral surface 39R of the rotating member 27R so as to be arranged at equal intervals on a circumference concentric with the rotating member 27R. Each of these free rollers 29R is attached to the tapered outer peripheral surface 39R via a bracket 41R and is rotatably supported by the bracket 41R.

  Similarly, a plurality (the same number as the free rollers 29R) of free rollers 29L are arranged around the tapered outer peripheral surface 39L of the rotating member 27L so as to be arranged at equal intervals on a circumference concentric with the rotating member 27L. Yes. Each of these free rollers 29L is attached to the taper outer peripheral surface 39L via the bracket 41L, and is rotatably supported by the bracket 41L.

  The wheel body 5 is disposed coaxially with the rotating members 27R and 27L so as to be sandwiched between the free roller 29R on the rotating member 27R side and the free roller 29L on the rotating member 27L side.

  In this case, as shown in FIGS. 1 and 6, each of the free rollers 29 </ b> R and 29 </ b> L has the axis C <b> 3 inclined with respect to the axis C <b> 2 of the wheel body 5 and the diameter direction of the wheel body 5 (the wheel body 5. When viewed in the direction of the axis C2, it is arranged in a posture inclined with respect to the radial direction connecting the axis C2 and the free rollers 29R and 29L. In such a posture, the outer peripheral surfaces of the free rollers 29R and 29L are in pressure contact with the inner peripheral surface of the wheel body 5 in an oblique direction.

  More generally speaking, the free roller 29R on the right side has a frictional force component in the direction around the axis C2 at the contact surface with the wheel body 5 when the rotating member 27R is driven to rotate around the axis C2. (The frictional force component in the tangential direction of the inner periphery of the wheel body 5) and the frictional force component in the direction around the cross-sectional center C1 of the wheel body 5 (the tangential frictional force component in the circular cross section) The wheel body 5 is pressed against the inner peripheral surface in such a posture that it can act on the wheel body 5. The same applies to the left free roller 29L.

  In this case, as described above, the cover members 21R and 21L are urged in a direction in which the lower end side (the bifurcated tip side) of the cover members 21R and 21L is narrowed by a spring (not shown). Therefore, the wheel body 5 is sandwiched between the right free roller 29R and the left free roller 29L by this urging force, and the free rollers 29R and 29L are in pressure contact with the wheel body 5 (more specifically, free The pressure contact state in which a frictional force can act between the rollers 29R and 29L and the wheel body 5 is maintained.

  In the vehicle 1 having the structure described above, when the rotating members 27R and 27L are driven to rotate at the same speed in the same direction by the electric motors 31R and 31L, the wheel body 5 has the same direction as the rotating members 27R and 27L. Will rotate around the axis C2. Thereby, the wheel body 5 rotates on the floor surface in the front-rear direction, and the entire vehicle 1 moves in the front-rear direction. In this case, the wheel body 5 does not rotate around the center C1 of the cross section.

  Further, for example, when the rotating members 27R and 27L are rotationally driven in opposite directions at the same speed, the wheel body 5 rotates around the center C1 of the cross section. As a result, the wheel body 4 moves in the direction of the axis C2 (that is, the left-right direction), and as a result, the entire vehicle 1 moves in the left-right direction. In this case, the wheel body 5 does not rotate around the axis C2.

  Furthermore, when the rotating members 27R and 27L are rotationally driven at different speeds (speeds including directions) in the same direction or in the opposite direction, the wheel body 5 rotates around its axis C2, It will rotate about the cross-sectional center C1.

  At this time, the wheel body 5 moves in a direction inclined with respect to the front-rear direction and the left-right direction by a combined operation (composite operation) of these rotational operations, and as a result, the entire vehicle 1 moves in the same direction as the wheel body 5. Will be. The moving direction of the wheel body 5 in this case changes depending on the difference in rotational speed (rotational speed vector in which the polarity is defined according to the rotational direction) including the rotational direction of the rotating members 27R and 27L. .

  Since the moving operation of the wheel body 5 is performed as described above, by controlling the respective rotational speeds (including the rotational direction) of the electric motors 31R and 31L, and by controlling the rotational speeds of the rotating members 27R and 27L, The moving speed and moving direction of the vehicle 1 can be controlled.

  The footrest 3 and the base body 9 are tiltable about the axis C2 in the left-right direction with the axis C2 of the wheel body 5 as a fulcrum, and the grounding surface (lower end surface) of the wheel body 5 is a fulcrum. As described above, the wheel body 5 can be tilted around the axis in the front-rear direction.

  Next, the structure for operation control of the vehicle 1 of this embodiment is demonstrated. In the following description, as shown in FIGS. 1 and 2, an XYZ coordinate system is assumed in which the horizontal axis in the front-rear direction is the X axis, the horizontal axis in the left-right direction is the Y axis, and the vertical direction is the Z axis. The direction and the left-right direction may be referred to as the X-axis direction and the Y-axis direction, respectively.

  First, schematic operation control of the vehicle 1 will be described. In the present embodiment, basically, an occupant who rides on the footrest portion 3 (steps 3R, 3L) in a standing posture and grips the grips 15R, 15L. When the body is tilted (specifically, when the body is tilted to move the position of the center of gravity of the entire occupant and vehicle 1 (projected on the horizontal plane)), The base body 9 tilts together with the footrest portion 3 on the tilted side. At this time, the moving operation of the wheel body 5 is controlled so that the vehicle 1 moves to the side on which the base body 9 is inclined. For example, when the occupant tilts the upper body forward and, as a result, tilts the base body 9 together with the footrest portion 3, the movement operation of the wheel body 5 is controlled so that the vehicle 1 moves forward.

  That is, in this embodiment, an operation in which the occupant moves the upper body and, as a result, tilts the base body 9 together with the footrest portion 3 is one basic maneuvering operation (operation request of the vehicle 1) for the vehicle 1, The moving operation of the wheel body 5 is controlled via the actuator device 7 in accordance with the steering operation.

  Here, in the vehicle 1 of the present embodiment, the ground contact surface of the wheel body 5 as the entire ground contact surface has an area compared to a region where the entire vehicle 1 and the passengers riding on the vehicle 1 are projected on the floor surface. It becomes a small single local region, and the floor reaction force acts only on the single local region. For this reason, in order to prevent the base body 9 from tilting, it is necessary to move the wheel body 5 so that the center of gravity of the occupant and the vehicle 1 is positioned almost directly above the ground contact surface of the wheel body 5.

  Therefore, in the present embodiment, the center of gravity of the entire occupant and vehicle 1 is positioned almost directly above the center point of the wheel body 5 (center point on the axis C2) (more precisely, the center of gravity point is The posture of the base body 9 in a state (which is located almost directly above the ground contact surface of the wheel body 5) is set as a target posture, and basically, the actual posture of the base body 9 is converged to the target posture. The movement operation is controlled.

  Further, in a state where no occupant is on board the vehicle 1, the center of gravity of the single vehicle 1 is positioned almost directly above the center point of the wheel body 5 (center point on the axis C <b> 2). Is the target posture, the actual posture of the base body 9 is converged to the target posture, and the base body 9 is not tilted. The movement operation of the wheel body 5 is controlled so that the vehicle 1 is independent.

  In addition, in both the state where the occupant is on board the vehicle 1 and the state where the occupant is not on board, the moving speed of the vehicle 1 increases as the deviation from the target posture of the base body 9 increases. In a state where the actual posture of the base body 9 coincides with the target posture, the moving operation of the wheel body 5 is controlled so that the movement of the vehicle 1 is stopped.

  Further, when the occupant tries to board the vehicle 1 or to get out of the vehicle 1, the moving operation of the wheel body 5 is controlled so that the occupant can easily perform the boarding action or the getting-off action.

  Supplementally, “posture” means a spatial orientation. In the present embodiment, the base 9 is tilted together with the footrest 3 so that the postures of the base 9 and the footrest 3 are changed. Further, in the present embodiment, the base 9 and the footrest 3 are integrally tilted. Therefore, converging the posture of the base 9 to the target posture means that the posture of the footrest 3 is changed to the footrest 3. It is equivalent to converging to the target posture corresponding to (the posture of the footrest portion 3 in a state where the posture of the base 9 matches the target posture of the base 9).

  In the present embodiment, in order to control the operation of the vehicle 1 as described above, as shown in FIG. 1 and FIG. 2, it is constituted by an electronic circuit unit including a microcomputer and drive circuit units of the electric motors 31R and 31L. As a state quantity relating to the posture of the control unit 50 and the base body 9 (or the posture of the footrest portion 3), the inclination angle θb of a predetermined part of the base body 9 with respect to the vertical direction (gravity direction) and its changing speed (= dθb / dt) Output of the inclination sensor 52 for measuring the load, the load sensors 54R and 54L for detecting whether or not the occupant puts his / her foot on the steps 3R and 3L of the footrest 3 and the electric motors 31R and 31L. Rotary encoders 56R and 56L as angle sensors for detecting the rotational angle and rotational angular velocity of the shaft, and when an occupant intends to board the vehicle 1, or A boarding / alighting operation element 58 for causing the control unit 50 to recognize that when getting off the vehicle 1 is mounted at an appropriate position of the vehicle 1.

  In this case, the control unit 50 and the inclination sensor 52 are attached to the column frame 13 in a state of being accommodated in the column frame 13 of the base body 9, for example. Further, the load sensors 54R and 54L are incorporated in the steps 3R and 3L, respectively. The rotary encoders 56R and 56L are provided integrally with the electric motors 31R and 31L, respectively. The rotary encoders 56R and 56L may be attached to the rotating members 27R and 27L, respectively.

  More specifically, the tilt sensor 52 includes an acceleration sensor and a rate sensor (angular velocity sensor) such as a gyro sensor, and outputs detection signals of these sensors to the control unit 50. Then, the control unit 50 performs a predetermined measurement calculation process (this may be a known calculation process) based on the outputs of the acceleration sensor and the rate sensor of the tilt sensor 52, and thereby the part on which the tilt sensor 52 is mounted. The measured value of the inclination angle θb with respect to the vertical direction (the column frame 13 in this embodiment) and the measured value of the inclination angular velocity θbdot, which is the change speed (differential value) thereof, are calculated.

  In this case, the tilt angle θb to be measured (hereinafter also referred to as the base body tilt angle θb) is more specifically, the component θb_x in the Y axis direction (pitch direction) and the X axis direction (roll direction), respectively. It consists of component θb_y. Similarly, the measured tilt angular velocity θbdot (hereinafter also referred to as the base tilt angular velocity θbdot) is also measured in the Y-axis direction (pitch direction) component θbdot_x (= dθb_x / dt) and the X-axis direction (roll direction). Component θbdot_y (= dθb_y / dt).

  Supplementally, in this embodiment, the steps 3R and 3L of the footrest portion 3 are tilted integrally with the support frame 13 of the base body 9, so that the base body inclination angle θb also has a meaning as an inclination angle of the footrest portion 3.

  In the description of the present embodiment, a variable such as a motion state quantity having a component in each direction of the X axis and the Y axis (or a direction around each axis) such as the base body inclination angle θb, or a relation to the motion state quantity. For a variable such as a coefficient to be processed, a suffix “_x” or “_y” is added to the reference symbol of the variable when each component is expressed separately.

  In this case, for a variable related to translational motion such as translational speed, a subscript “_x” is added to the component in the X-axis direction, and a subscript “_y” is added to the component in the Y-axis direction.

  On the other hand, for variables related to rotational motion, such as angle, rotational speed (angular velocity), angular acceleration, etc., the subscript “_x” is added to the component around the Y axis for convenience in order to align the subscript with the variable related to translational motion. In addition, the subscript “_y” is added to the component around the X axis.

  Further, when a variable is expressed as a set of a component in the X-axis direction (or a component around the Y-axis) and a component in the Y-axis direction (or a component around the X-axis), the reference numeral of the variable The subscript “_xy” is added. For example, when the base body tilt angle θb is expressed as a set of a component θb_x around the Y axis and a component θb_y around the X axis, it is expressed as “base body tilt angle θb_xy”.

  The load sensor 54R of the load sensors 54R and 54L is built in the step 3R so as to receive a load applied to the step 3R from the right foot when the occupant puts his right foot on the step 3R. Is output to the control unit 50. Similarly, the load sensor 54L is incorporated in the step 3L so as to receive a load applied to the step 3L from the left foot when the occupant places his left foot on the step 3L, and a detection signal corresponding to the load is provided. Output to the control unit 50. Then, the control unit 50 determines whether or not an occupant has placed his / her feet on the steps 3R and 3L based on the measured load values indicated by the outputs of the load sensors 54R and 54L. In this case, the state in which the occupant puts his / her foot on both steps 3R and 3L means the state in which the occupant is on the vehicle 1.

  Instead of the load sensors 54R and 54L, for example, a switch-type sensor that turns on when the occupant puts his or her foot on each step 3R or 3L may be used.

  The rotary encoder 56 </ b> R generates a pulse signal each time the output shaft of the electric motor 31 </ b> R rotates by a predetermined angle, and outputs this pulse signal to the control unit 50. Then, the control unit 50 measures the rotational angle of the output shaft of the electric motor 53R based on the pulse signal, and further calculates the temporal change rate (differential value) of the measured value of the rotational angle as the rotational angular velocity of the electric motor 53R. Measure as The same applies to the rotary encoder 56L on the electric motor 31L side.

  In this embodiment, the boarding / alighting operation element 58 is attached to one of the grips 15R, 15L, for example, the grip 15R. The boarding / alighting amount operator 58 is, for example, a switch that can selectively push one end 58a and the other end 59b, and each push operation when each end 58a, 58b is pushed. A signal corresponding to (a single trigger signal) is output to the control unit 50. In this case, in this embodiment, one of the end portions 58a and 58b, for example, the end portion 58a, is pushed when the occupant tries to board the vehicle 1 (specifically, when the boarding action is started). The part to be performed, the other end 58b, is a part to be pushed when the occupant intends to get out of the vehicle 1 (specifically, when the user tries to get off the vehicle). Hereinafter, the end portions 58a and 58b of the boarding / alighting operation element 58 are referred to as a boarding operation unit 58a and a boarding operation unit 58b, respectively.

  It should be noted that when both the boarding operation unit 58a and the getting-off operation unit 58b are not pushed, the boarding / alighting operation element 58 is restored to a non-operating state (a state where no trigger signal is output).

  The control unit 50 executes a predetermined calculation process using each of the above measured values and a trigger signal appropriately input from the boarding / alighting operation element 58, thereby rotating the rotational angular velocities of the electric motors 31R and 31L. Is determined, and the rotational angular velocities of the electric motors 31R and 31L are feedback-controlled according to the speed command.

  The relationship between the rotational angular velocity of the output shaft of the electric motor 31R and the rotational angular velocity of the rotating member 27R is proportional to the constant reduction ratio between the output shaft and the rotating member 27R. In the description of this embodiment, for the sake of convenience, the rotational angular velocity of the electric motor 31R means the rotational angular velocity of the rotating member 27R. Similarly, the rotational angular velocity of the electric motor 31L means the rotational angular velocity of the rotating member 27L.

  Hereinafter, the control process of the control unit 50 will be described in more detail.

  The control unit 50 executes the process (main routine process) shown in the flowchart of FIG. 7 at a predetermined control process cycle.

  First, in STEP 1, the control unit 50 acquires the output of the tilt sensor 52.

  Next, proceeding to STEP 2, the control unit 50 calculates the measured value θb_xy_s of the base body tilt angle θb and the measured value θbdot_xy_s of the base body tilt angular velocity θbdot based on the acquired output of the tilt sensor 52.

  In the following description, when an observed value (measured value or estimated value) of an actual value of a variable (state quantity) such as the measured value θb_xy_s is represented by a reference symbol, a subscript is added to the reference symbol of the variable. Add “_s”.

  Next, after acquiring the outputs of the load sensors 54R and 54L and the output of the boarding / alighting operation element 58 in STEP3, the control unit 50 executes the processing of STEP4.

  Here, in the present embodiment, as the operation mode of the vehicle 1, the on-boarding mode that is an operation mode in a state where the occupant is in the vehicle 1 (the state of being on board), and the occupant is on the vehicle 1. A self-supporting mode (non-boarding mode), a boarding action mode that is an operation mode when the occupant is going to board the vehicle 1 (during boarding action), and a occupant trying to get off the vehicle 1 There is a mode for getting off, which is an operation mode (during getting off). The control unit 50 controls the moving operation of the wheel body 5 with control characteristics suitable for each operation mode.

  In the processing of STEP4, the operation mode of the vehicle 1 is determined based on the output of the load sensors 54R and 54L and the output of the boarding / alighting operation element 58, and the control characteristics defining the control characteristics in the determined operation mode are determined. This is a process for determining characteristic parameters. Although details of the process will be described later, in the present embodiment, the control characteristic parameter determined in the process of STEP 4 includes a base body tilt angle target value θb_xy_obj that is a target value of the base body 9 and is described later. A second gain adjustment parameter Kr2 is included.

  In this case, the base body tilt angle target value θb_xy_obj is basically determined as follows in each operation mode. In other words, in the boarding mode, the base 9 of the base body 9 is in a state in which the center of gravity of the entire passenger (hereinafter referred to as the vehicle / occupant total center of gravity) of the vehicle 1 is positioned almost directly above the ground contact surface of the wheel body 5. In the posture, a value set in advance so as to coincide with or substantially coincide with the measured value θb_xy_s of the base body inclination angle θb measured based on the output of the inclination sensor 52 (hereinafter, referred to as the setting value θb_xy_ boarding mode for the boarding mode) Is determined as θb_xy_obj.

  Further, in the self-supporting mode, the output of the tilt sensor 52 is output in the posture of the base body 9 in a state where the center of gravity of the vehicle 1 (hereinafter referred to as vehicle center of gravity) is located almost directly above the ground contact surface of the wheel body 5. A value that is set in advance so as to coincide with or substantially coincide with the measured value θb_xy_s of the base body tilt angle θb that is measured based on this (hereinafter, sometimes referred to as a setting value θb_xy_self-standing for the self-supporting mode) is determined as θb_xy_obj.

  Since the vehicle 1 according to the present embodiment is a vehicle having a bilaterally symmetric structure, the θb_xy_ boarding component around the X-axis θb_y_ boarding and the θb_xy_ self-standing component around the X-axis θb_y_ self-standing are the same values. .

  Further, in the boarding action mode and the getting-off action mode, the attitude of the base body 9 in a state in which the actual inclination angle of the base body 9 is made coincident with θb_xy_obj is inclined to the right side or the left side around the X axis. , Θb_xy_obj is determined so as to prevent sudden change of θb_xy_obj.

  Supplementally, the posture of the base body 9 in the state in which the actual inclination angle of the base body 9 coincides with θb_xy_obj in the on-board mode or the self-supporting mode is a posture that stands up in the vertical direction when the vehicle 1 is viewed in the X-axis direction. It becomes. In this state, the steps 3R and 3L of the footrest portion 3 have the same or substantially the same height position (height position in the vertical direction) of each upper surface (contact surface with the bottom surface of each foot). In such a way, they are arranged in parallel in the horizontal direction. On the other hand, in the boarding action mode and the getting-off action mode, the posture of the base body 9 in the state in which the actual inclination angle of the base body 9 coincides with θb_xy_obj is inclined to the right side or the left side as described above. Steps 3R and 3L are also inclined. For this reason, the parallel direction (interval direction) of steps 3R and 3L becomes a direction inclined from the horizontal direction.

  In addition, during the boarding mode setting value θb_xy_ boarding, the independent mode setting value θb_xy_independence corresponds to the in-boarding mode target inclination angle and the non-boarding mode target inclination angle in the present invention, respectively. . In the boarding action mode and the getting-off action mode, the base body tilt angle target value θb_xy_obj in a state where the base body 9 is tilted to the right or left as described above corresponds to the transitional target tilt angle in the present invention.

  In any of the operation modes, the target value of the component θbdot_x in the direction around the Y axis of the base body tilt angular velocity θbdot and the target value of the component θbdot_y in the direction around the X axis are both “0”. For this reason, the process which sets the target value of base | substrate inclination angular velocity (theta) bdot_xy is unnecessary.

  As will be described in detail later, the second gain adjustment parameter Kr2 is set to a value within the range from “0” to “1”. In this case, the value of Kr2 is “0” in the boarding mode and the self-sustained mode, and the value of Kr2 is basically larger than “0” in the boarding action mode and the getting-off action mode. Is variably determined.

  After determining the control characteristic parameter in STEP 4, the control unit 50 next executes a vehicle control calculation process in STEP 5 to determine the respective speed commands for the electric motors 31 </ b> R and 31 </ b> L. Details of this vehicle control calculation processing will be described later.

  Next, proceeding to STEP 6, the control unit 50 executes an operation control process for the electric motors 31 </ b> R and 31 </ b> L according to the speed command determined in STEP 5. In this operation control process, the control unit 50 determines the deviation according to the deviation between the speed command of the electric motor 31R determined in STEP 5 and the measured value of the rotational speed of the electric motor 31R measured based on the output of the rotary encoder 56R. The target value (target torque) of the output torque of the electric motor 31R is determined so as to converge to “0”. Then, the control unit 50 controls the energization current of the electric motor 31R so that the output torque of the target torque is output to the electric motor 31R. The same applies to the operation control of the left electric motor 31L.

  The above is the overall control process executed by the control unit 50.

  Next, the processing of STEP 4 (control characteristic parameter determination processing) and the vehicle control calculation processing of STEP 5 which will be described later will be described in detail below.

  First, for convenience of explanation, the details of the vehicle control calculation process of STEP 5 will be described.

  In the following description, the center of gravity of the entire system in which a downward translational force caused by gravity is applied to the ground contact surface of the wheel body 5 is referred to as a vehicle system center of gravity. In this case, the vehicle system center-of-gravity point coincides with the vehicle / occupant overall center-of-gravity point when the operation mode of the vehicle 1 is the on-boarding mode, and when the vehicle 1 is in the independent mode, Match. Furthermore, when the operation mode of the vehicle 1 is the boarding action mode or the getting-off action mode, the position of the vehicle system center-of-gravity point is assumed to be at a predetermined position for convenience. The predetermined position may be a position that coincides with the position of the center of gravity of the entire vehicle / occupant or the center of gravity of the single vehicle.

  In the following description, regarding the value (value to be updated) determined by the control unit 50 in each control processing cycle, the value determined in the current (latest) control processing cycle is the current value, and the control processing immediately before that The value determined by the cycle may be referred to as the previous value. A value not particularly different from the current value and the previous value means the current value.

  Further, regarding the speed and acceleration in the X-axis direction, the forward direction is a positive direction, and regarding the speed and acceleration in the Y-axis direction, the left direction is a positive direction.

  In the present embodiment, the dynamic behavior of the vehicle system center-of-gravity point in the boarding mode or the self-supporting mode (specifically, the behavior seen by projecting from the Y-axis direction onto the plane orthogonal to this (XZ plane); The behavior observed by projecting from the X-axis direction onto a plane perpendicular to this (YZ plane) is approximately expressed by the behavior of the inverted pendulum model (the dynamic behavior of the inverted pendulum) as shown in FIG. As a result, the vehicle control calculation process of STEP5 is performed.

  In FIG. 8, reference numerals without parentheses are reference numerals corresponding to the inverted pendulum model viewed from the Y-axis direction, and reference numerals with parentheses refer to the inverted pendulum model viewed from the X-axis direction. Corresponding reference sign.

  In this case, the inverted pendulum model expressing the behavior seen from the Y-axis direction has a mass point 60_x located at the center of gravity of the vehicle system and a rotation axis 62a_x parallel to the Y-axis direction. Wheel 62_x (hereinafter referred to as virtual wheel 62_x). The mass point 60_x is supported by the rotation shaft 62a_x of the virtual wheel 62_x via the linear rod 64_x, and can swing around the rotation shaft 62a_x with the rotation shaft 62a_x as a fulcrum.

  In this inverted pendulum model, the motion of the mass point 60_x corresponds to the motion of the vehicle system center of gravity as viewed from the Y-axis direction. Further, the tilt angle θbe_x of the rod 64_x with respect to the vertical direction is a deviation θbe_x_s (= θb_x_s) between the base body tilt angle measurement value θb_x_s in the direction around the Y axis and the base body tilt angle target value θb_x_obj determined as described later in STEP4. −θb_x_obj). Further, the changing speed (= dθbe_x / dt) of the inclination angle θbe_x of the rod 64_x is set to coincide with the measured body inclination angular velocity θbdot_x_s in the direction around the Y axis. Further, the movement speed Vw_x (translation movement speed in the X-axis direction) of the virtual wheel 62_x is the same as the movement speed in the X-axis direction of the wheel body 5 of the vehicle 1.

  Similarly, an inverted pendulum model (refer to the reference numerals in parentheses in FIG. 8) expressing the behavior viewed from the X-axis direction includes a mass point 60_y located at the vehicle system center of gravity and a rotation axis 62a_y parallel to the X-axis direction. And virtual wheels 62_y (hereinafter referred to as virtual wheels 62_y) that can rotate on the floor surface. The mass point 60_y is supported by the rotation shaft 62a_y of the virtual wheel 62_y via a linear rod 64_y, and can swing around the rotation shaft 62a_y with the rotation shaft 62a_y as a fulcrum.

  In this inverted pendulum model, the motion of the mass point 60_y corresponds to the motion of the vehicle system center-of-gravity point viewed from the X-axis direction. Further, the inclination angle θbe_y of the rod 64_y with respect to the vertical direction coincides with the deviation θbe_y_s (= θb_y_s−θb_y_obj) between the base body tilt angle measured value θb_y_s in the direction around the X axis and the base body tilt angle target value θb_y_obj determined as described later. It is supposed to be. In addition, the change speed (= dθbe_y / dt) of the inclination angle θbe_y of the rod 64_y coincides with the measured base body inclination angular velocity θbdot_y_s in the direction around the X axis. Further, the moving speed Vw_y (translational moving speed in the Y-axis direction) of the virtual wheel 62_y is set to coincide with the moving speed in the Y-axis direction of the wheel body 5 of the vehicle 1.

  The virtual wheels 62_x and 62_y are assumed to have predetermined radii of predetermined values Rw_x and Rw_y, respectively.

  Further, the rotational angular velocities ωw_x and ωw_y of the virtual wheels 62_x and 62_y and the rotational angular velocities ω_R and ω_L of the electric motors 31R and 31L (more precisely, the rotational angular velocities ω_R and ω_L of the rotating members 27R and 27L), respectively. The relationship of the following formulas 01a and 01b is established.


ωw_x = (ω_R + ω_L) / 2 Equation 01a
ωw_y = C · (ω_R−ω_L) / 2 …… Formula 01b

Note that “C” in the expression 01b is a coefficient of a predetermined value depending on the mechanical relationship between the free rollers 29R and 29L and the wheel body 5 and slippage. Further, the positive directions of ωw_x, ω_R, and ω_L are the rotation direction of the virtual wheel 62_x when the virtual wheel 62_x rotates forward, and the positive direction of ωw_y is the case when the virtual wheel 62_y rotates leftward. This is the rotation direction of the virtual wheel 62_y.

  Here, the dynamics of the inverted pendulum model shown in FIG. 8 is expressed by the following equations 03x and 03y. The expression 03x is an expression expressing the dynamics of the inverted pendulum model viewed from the Y-axis direction, and the expression 03y is an expression expressing the dynamics of the inverted pendulum model viewed from the X-axis direction.


d 2 θbe_x / dt 2 = α_x · θbe_x + β_x · ωwdot_x ...... Formula 03x
d 2 θbe_y / dt 2 = α_y · θbe_y + β_y · ωwdot_y ...... Formula 03y

In equation 03x, ωwdot_x is the rotational angular acceleration of the virtual wheel 62_x (first-order differential value of the rotational angular velocity ωw_x), α_x is a coefficient that depends on the mass and height h_x of the mass 60_x, and β_x is the inertia (moment of inertia of the virtual wheel 62_x ) And the radius Rw_x. The same applies to ωwdot_y, α_y, and β_y in Expression 03y.

  As can be seen from these equations 03x and 03y, the motions of the mass points 60_x and 60_y of the inverted pendulum (and hence the motion of the vehicle system center of gravity) are respectively the rotational angular acceleration ωwdot_x of the virtual wheel 62_x and the rotational angular acceleration ωwdot_y of the virtual wheel 62_y. It is defined depending on.

  Therefore, in the present embodiment, the rotational angular acceleration ωwdot_x of the virtual wheel 62_x is used as an operation amount (control input) for controlling the motion of the vehicle system center of gravity point viewed from the Y-axis direction, and viewed from the X-axis direction. The rotational angular acceleration ωwdot_y of the virtual wheel 62_y is used as an operation amount (control input) for controlling the motion of the vehicle system center of gravity.

  Then, the vehicle control arithmetic processing in STEP 9 will be schematically described. The control unit 50 determines that the motion of the mass point 60_x seen in the X-axis direction and the motion of the mass point 60_y seen in the Y-axis direction are Virtual wheel rotational angular acceleration commands ωwdot_x_cmd and ωwdot_y_cmd, which are command values (target values) of the rotational angular accelerations ωwdot_x and ωwdot_y as operation amounts, are determined so as to achieve a motion corresponding to a desired motion. Further, the control unit 50 integrates the virtual wheel rotation angular acceleration commands ωwdot_x_cmd and ωwdot_y_cmd, and the virtual wheel rotation that is the command values (target values) of the respective rotation angular velocities ωw_x and ωw_y of the virtual wheels 62_x and 62_y. The angular velocity commands are determined as ωw_x_cmd and ωw_y_cmd.

  Then, the control unit 50 moves the virtual wheel 62_x corresponding to the virtual wheel rotational angular velocity command ωw_x_cmd (= Rw_x · ωw_x_cmd) and the virtual wheel 62_y corresponding to the virtual wheel rotational angular velocity command ωw_y_cmd (= Rw_y · ωw_y_cmd). ) As the target movement speed in the X-axis direction and the target movement speed in the Y-axis direction of the wheel body 5 of the vehicle 1, and the respective speeds of the electric motors 31 </ b> R and 31 </ b> L so as to realize these target movement speeds. The commands ω_R_cmd and ωL_cmd are determined.

  In this embodiment, the virtual wheel rotation angular acceleration commands ωwdot_x_cmd and ωwdot_y_cmd as the operation amount (control input) are obtained by adding three operation amount components as shown in equations 07x and 07y described later, respectively. It is determined.

  Supplementally, among the virtual wheel rotation angular acceleration commands ωwdot_x_cmd and ωwdot_y_cmd as the operation amount (control input) in the present embodiment, ωwdot_x_cmd is the rotation angular velocity of the virtual wheel 62_x moving in the X-axis direction. This functions as an operation amount that defines the driving force to be applied to the wheel body 5 in order to move the wheel in the X-axis direction. Further, since ωwdot_y_cmd is the rotational angular velocity of the virtual wheel 62_y moving in the Y-axis direction, it functions as an operation amount that defines the driving force to be applied to the wheel body 5 in order to move the wheel body 5 in the Y-axis direction. To be.

  As described above, the control unit 50 has the function shown in the block diagram of FIG. 9 as a function for executing the vehicle control calculation process of STEP5.

  That is, the control unit 50 calculates the base body tilt angle deviation measurement value θbe_xy_s, which is a deviation between the base body tilt angle measurement value θb_xy_s and the base body tilt angle target value θb_xy_obj, and the moving speed of the vehicle system center-of-gravity point. A target value of the center-of-gravity speed Vb_xy in consideration of a center-of-gravity speed calculation unit 72 that calculates an estimated center-of-gravity speed value Vb_xy_s as an observed value of a certain center-of-gravity speed Vb_xy As a control target center-of-gravity velocity Vb_xy_mdfd, and a gain adjustment unit 78 for determining a first gain adjustment parameter Kr1_xy for adjusting gain coefficient values of equations 07x and 07y described later. .

  The control unit 50 further calculates the virtual wheel rotation angular velocity command ωw_xy_cmd, the attitude control calculation unit 80, and the virtual wheel rotation angular velocity command ωw_xy_cmd from the speed command ω_R_cmd (rotational angular velocity command value) of the right electric motor 31R. And a motor command calculation unit 82 for converting into a set with a speed command ω_L_cmd (rotation angular velocity command value) of the left electric motor 31L.

  Note that the reference numeral 84 in FIG. 9 indicates a delay element for inputting the virtual wheel rotation angular velocity command ωw_xy_cmd calculated by the attitude control calculation unit 70 for each control processing cycle. The delay element 84 outputs the previous value ωw_xy_cmd_p of the virtual wheel rotation angular velocity command ωw_xy_cmd in each control processing cycle.

  In the vehicle control calculation process of STEP5, the processes of the above-described respective processing units are executed as described below.

  That is, the control unit 50 first executes the process of the deviation calculation unit 70 and the process of the gravity center speed calculation unit 72.

  The deviation calculation unit 70 receives the base body tilt angle measurement value θb_xy_s (θb_x_s and θb_y_s) calculated in STEP 2 and the base body tilt angle target values θb_xy_obj (θb_x_obj and θb_y_obj) determined as described later in STEP 4. The Then, the deviation calculating unit 70 subtracts θb_x_obj from θb_x_s to calculate a base body tilt angle deviation measured value θbe_x_s (= θb_x_s−θb_x_obj) in the direction around the Y axis, and subtracts θb_y_obj from θb_y_s to obtain X A base body tilt angle deviation measurement value θbe_y_s (= θb_y_s−θb_y_obj) in the direction around the axis is calculated.

  The process of the deviation calculating unit 70 may be executed in the process of STEP4, for example.

  The center-of-gravity velocity calculation unit 72 receives the current value of the base body tilt angular velocity measurement value θbdot_xy_s (θbdot_x_s and θbdot_y_s) calculated in STEP 2 and the previous value ωw_xy_cmd_p (ωw_x_cmd_p and ωw_y_cmd_p) of the virtual wheel speed command ωw_xy_cmd. Input from the delay element 84. Then, the center-of-gravity speed calculation unit 72 calculates the center-of-gravity speed estimated values Vb_xy_s (Vb_x_s and Vb_y_s) from these input values using a predetermined arithmetic expression based on the inverted pendulum model.

  Specifically, the center-of-gravity velocity calculation unit 72 calculates Vb_x_s and Vb_y_s by the following equations 05x and 05y, respectively.


Vb_x_s = Rw_x · ωw_x_cmd_p + h_x · θbdot_x_s ...... 05x
Vb_y_s = Rw_y · ωw_y_cmd_p + h_y · θbdot_y_s …… 05y

In these expressions 05x and 05y, Rw_x and Rw_y are the respective radii of the virtual wheels 62_x and 62_y as described above, and these values are predetermined values set in advance. H_x and h_y are the heights of the mass points 60_x and 60_y of the inverted pendulum model, respectively. In this case, in this embodiment, in each operation mode of the vehicle 1, the height of the vehicle system center-of-gravity point is maintained substantially constant. As the values of h_x and h_y, predetermined values set in advance for each operation mode are used.

  Note that the values of h_x and h_y do not have to be different for each operation mode. For example, the values of h_x and h_y in the boarding action mode or the getting-off action mode may be set to the same values as in the boarding mode.

  The first term on the right side of the formula 05x is the moving speed in the X-axis direction of the virtual wheel 62_x corresponding to the previous value ωw_x_cmd_p of the speed command of the virtual wheel 62_x, and this moving speed is the X-axis direction of the wheel body 5 This corresponds to the current value of the actual movement speed. Further, the second term on the right side of the expression 05x is the movement speed in the X-axis direction of the vehicle system center-of-gravity point caused by the base body 9 tilting at the inclination angular velocity of θbdot_x_s around the Y axis (relative to the wheel body 5). This is equivalent to the current value of the movement speed. The same applies to Formula 05y.

  Note that a set of measured values (current values) of the respective rotational angular velocities of the electric motors 31R and 31L measured based on the outputs of the rotary encoders 56R and 56L is converted into a set of rotational angular velocities of the virtual wheels 62_x and 62_y. The rotational angular velocities may be converted and used in place of ωw_x_cmd_p and ωw_y_cmd_p in equations 05x and 05y. However, it is advantageous to use the target values ωw_x_cmd_p and ωw_y_cmd_p in order to eliminate the influence of noise included in the measured value of the rotational angular velocity.

  Next, the control unit 50 executes the process of the gravity center speed limiting unit 76 and the process of the gain adjusting unit 78. In this case, the center-of-gravity speed limiter 76 and the gain adjustment unit 78 are input with the center-of-gravity speed estimated values Vb_xy_s (Vb_x_s and Vb_y_s) calculated by the center-of-gravity speed calculator 72 as described above.

  Then, the gain adjustment unit 78 determines the first gain adjustment parameter Kr1_xy (Kr1_x and Kr1_y) based on the input center-of-gravity velocity estimation value Vb_xy_s (Vb_x_s and Vb_y_s).

  The processing of the gain adjusting unit 78 will be described below with reference to FIGS.

  As shown in FIG. 10, the gain adjustment unit 78 inputs the input center-of-gravity velocity estimated values Vb_x_s and Vb_y_s to the limit processing unit 86. In the limit processing unit 86, output values Vw_x_lim1 and Vw_y_lim1 are generated by appropriately adding limits corresponding to the allowable ranges of the rotational angular velocities of the electric motors 31R and 31L to the gravity center speed estimated values Vb_x_s and Vb_y_s. The output value Vw_x_lim1 has a meaning after limiting the moving speed Vw_x in the X-axis direction of the virtual wheel 62_x, and the output value Vw_y_lim1 has a meaning as a value after limiting the moving speed Vw_y in the Y-axis direction of the virtual wheel 62_y. .

  The processing of the limit processing unit 86 will be described in more detail with reference to FIG. Note that the reference numerals with parentheses in FIG. 11 indicate processing of the limit processing unit 100 of the gravity center speed limiting unit 76 described later, and may be ignored in the description of the processing of the limit processing unit 86.

  First, the limit processing unit 86 inputs the center-of-gravity velocity estimated values Vb_x_s and Vb_y_s to the processing units 86a_x and 86a_y, respectively. The processing unit 86a_x divides Vb_x_s by the radius Rw_x of the virtual wheel 62_x to calculate the rotational angular velocity ωw_x_s of the virtual wheel 62_x when it is assumed that the moving speed in the X-axis direction of the virtual wheel 62_x matches Vb_x_s. . Similarly, the processing unit 86a_y calculates the rotational angular velocity ωw_y_s (= Vb_y_s / Rw_y) of the virtual wheel 62_y when it is assumed that the moving speed of the virtual wheel 62_y in the Y-axis direction matches Vb_y_s.

  Next, the limit processing unit 86 converts the set of ωw_x_s and ωw_y_s into a set of the rotation angular velocity ω_R_s of the electric motor 31R and the rotation angular velocity ω_L_s of the electric motor 31L by the XY-RL conversion unit 86b.

  In this embodiment, this conversion is performed by solving simultaneous equations obtained by replacing ωw_x, ωw_y, ω_R, and ω_L in the equations 01a and 01b with ωw_x_s, ωw_y_s, ω_R_s, and ω_L_s, with ω_R_s and ω_L_s as unknowns. Done.

  Next, the limit processing unit 86 inputs the output values ω_R_s and ω_L_s of the XY-RL conversion unit 86b to the limiters 86c_R and 86c_L, respectively. At this time, if the limiter 86c_R is within the allowable range for the right motor having a predetermined upper limit value (> 0) and lower limit value (<0), the limiter 86c_R keeps ω_R_s as it is. Output as output value ω_R_lim1. Further, when ω_R_s deviates from the right motor allowable range, the limiter 86c_R outputs the boundary value closer to ω_R_s between the upper limit value and the lower limit value of the right motor allowable range as the output value ω_R_lim1. Output as. As a result, the output value ω_R_lim1 of the limiter 86c_R is limited to a value within the allowable range for the right motor.

  Similarly, when the limiter 86c_L is within the allowable range for the left motor having a predetermined upper limit value (> 0) and lower limit value (<0), the limiter 86c_L keeps ω_L_s as it is. Output as output value ω_L_lim1. Further, when ω_L_s deviates from the left motor allowable range, the limiter 86c_L outputs the boundary value closer to ω_L_s between the upper limit value and the lower limit value of the left motor allowable range as the output value ω_L_lim1. Output as. As a result, the output value ω_L_lim1 of the limiter 86c_L is limited to a value within the left motor allowable range.

  The allowable range for the right motor is set so that the rotational angular velocity (absolute value) of the right electric motor 31R does not become too high, and in turn prevents the maximum value of torque that can be output by the electric motor 31R from decreasing. Tolerance. The same applies to the allowable range for the left motor.

  Next, the limit processing unit 86 converts the set of output values ω_R_lim1 and ω_L_lim1 of the limiters 86c_R and 86c_L into sets of rotational angular velocities ωw_x_lim1 and ωw_y_lim1 of the virtual wheels 62_x and 62_y by the RL-XY conversion unit 86d. .

  This conversion is a reverse conversion process of the conversion process of the XY-RL conversion unit 86b. This processing is performed by solving simultaneous equations obtained by replacing ωw_x, ωw_y, ω_R, and ω_L in the equations 01a and 01b with ωw_x_lim1, ωw_y_lim1, ω_R_lim1, and ω_L_lim1 as ωw_x_lim1 and ωw_y_lim1.

  Next, the limit processing unit 86 inputs the output values ωw_x_lim1 and ωw_y_lim1 of the RL-XY conversion unit 86d to the processing units 86e_x and 86e_y, respectively. The processing unit 86e_x converts ωw_x_lim1 into the moving speed Vw_x_lim1 of the virtual wheel 62_x by multiplying ωw_x_lim1 by the radius Rw_x of the virtual wheel 62_x. Similarly, the processor 86e_y converts ωw_y_lim1 into the moving speed Vw_y_lim1 (= ωw_y_lim1 · Rw_y) of the virtual wheel 62_y.

  It is assumed that the movement speed Vw_x of the virtual wheel 62_x in the X-axis direction and the movement speed Vw_y of the virtual wheel 62_y in the Y-axis direction are made to coincide with the center-of-gravity speed estimated values Vb_x_s and Vb_y_s, respectively, by the above processing of the limit processing unit 86. In other words (in other words, assuming that the moving speed in the X-axis direction and the moving speed in the Y-axis direction of the wheel body 5 are respectively matched with Vb_x_s and Vb_y_s), it is necessary to realize those moving speeds. When the rotational angular velocities ω_R_s and ω_L_s of the electric motors 31R and 31L are both within the allowable range, a set of output values Vw_x_lim1 and Vw_y_lim1 that respectively match Vb_x_s and Vb_y_s is obtained from the limit processing unit 86. Is output.

  On the other hand, when both or one of the rotational angular velocities ω_R_s and ω_L_s of the electric motors 31R and 31L deviate from the allowable range, both or one of the rotational angular velocities is forcibly limited within the allowable range. Thus, the limit processing unit 86 outputs a set of movement speeds Vw_x_lim1 and Vw_y_lim1 in the X-axis direction and the Y-axis direction corresponding to the set of rotational angular velocities ω_R_lim1 and ω_L_lim1 of the electric motors 31R and 31L after the limitation.

  Therefore, the limit processing unit 86 can make the rotation angular velocities of the electric motors 31R and 31L corresponding to the set of the output values Vw_x_lim1 and Vw_y_lim1 not to deviate from the permissible range under the necessary conditions. As long as the output values Vw_x_lim1 and Vw_y_lim1 coincide with Vb_x_s and Vb_y_s, a set of output values Vw_x_lim1 and Vw_y_lim1 is generated.

  Returning to the description of FIG. 10, the gain adjustment unit 78 next executes the processing of the calculation units 88_x and 88_y. The calculation unit 88_x receives the estimated center-of-gravity velocity value Vb_x_s in the X-axis direction and the output value Vw_x_lim1 of the limit processing unit 86. Then, the calculation unit 88_x calculates and outputs a value Vover_x obtained by subtracting Vb_x_s from Vw_x_lim1. Further, the Y-axis direction center of gravity velocity estimated value Vb_y_s and the output value Vw_y_lim1 of the limit processing unit 86 are input to the arithmetic unit 88_y. The computing unit 88_y calculates and outputs a value Vover_y obtained by subtracting Vb_y_s from Vw_y_lim1.

  In this case, if the output values Vw_x_lim1 and Vw_y_lim1 are not forcibly limited by the limit processing unit 86, Vw_x_lim1 = Vb_x_s and Vw_y_lim1 = Vb_y_s, and thus the output values Vover_x of the arithmetic units 88_x and 88_y, respectively. , Vover_y is “0”.

  On the other hand, when the output values Vw_x_lim1 and Vw_y_lim1 of the limit processing unit 86 are generated by forcibly limiting the input values Vb_x_s and Vb_y_s, the correction amount (= Vw_x_lim1−Vb_x_s) of Vw_x_lim1 from Vb_x_s , And Vw_y_lim1 are corrected from Vb_y_s (= Vw_y_lim1-Vb_y_s) from the arithmetic units 88_x and 88_y, respectively.

  Next, the gain adjustment unit 78 determines the first gain adjustment parameter Kr1_x by sequentially passing the output value Vover_x of the calculation unit 88_x through the processing units 90_x and 92_x. The gain adjustment unit 78 determines the first gain adjustment parameter Kr1_y by sequentially passing the output value Vover_y of the calculation unit 88_y through the processing units 90_y and 92_y. The first gain adjustment parameters Kr_x and Kr_y are both values in the range from “0” to “1”.

  The processing unit 90_x calculates and outputs the absolute value of the input Vover_x. Further, the processing unit 92_x generates Kr1_x so that the output value Kr1_x monotonously increases with respect to the input value | Vover_x | and has saturation characteristics. The saturation characteristic is a characteristic in which the change amount of the output value with respect to the increase of the input value becomes “0” or approaches “0” when the input value increases to some extent.

  In this case, in this embodiment, when the input value | Vover_x | is equal to or less than a predetermined value set in advance, the processing unit 92_x sets a value obtained by multiplying the input value | Vover_x | by a proportional coefficient of the predetermined value. Output as Kr1_x. In addition, when the input value | Vover_x | is larger than the predetermined value, the processing unit 92_x outputs “1” as Kr1_x. The proportional coefficient is set so that the product of | Vover_x | and the proportional coefficient is “1” when | Vover_x | matches a predetermined value.

  The processing of the processing units 90_y and 92_y is the same as the processing of the above-described processing units 90_x and 92_x, respectively.

  When the output values Vw_x_lim1 and Vw_y_lim1 are not forcibly limited by the limit processing unit 86 by the processing of the gain adjusting unit 78 described above, that is, in the X axis direction and the Y axis direction of the wheel body 5 respectively. Even if the electric motors 31R and 31L are operated so that the movement speeds Vw_x and Vw_y coincide with the center-of-gravity speed estimated values Vb_x_s and Vb_y_s, the respective rotational angular velocities of the electric motors 31R and 31L are within the allowable range. In this case, the first gain adjustment parameters Kr1_x and Kr1_y are both determined to be “0”. Therefore, normally, Kr1_x = Kr1_y = 0.

  On the other hand, when the output values Vw_x_lim1 and Vw_y_lim1 of the limit processing unit 86 are generated by forcibly limiting the input values Vb_x_s and Vb_y_s, that is, in the X axis direction and the Y axis direction of the wheel body 5 respectively. If the electric motors 31R and 31L are operated so that the moving speeds Vw_x and Vw_y coincide with the center-of-gravity speed estimated values Vb_x_s and Vb_y_s, respectively, the rotational angular speed of either of the electric motors 31R and 31L deviates from the allowable range. In this case (when the absolute value of one of the rotational angular velocities is too high), the values of the first gain adjustment parameters Kr1_x and Kr1_y are determined according to the absolute values of the correction amounts Vover_x and Vover_y, respectively. In this case, Kr1_x is determined to have a larger value as the absolute value of the correction amount Vx_over increases with “1” as the upper limit value. The same applies to Kr1_y.

  Further, the center-of-gravity speed limiter 76 uses the input estimated center-of-gravity speed value Vb_xy_s (Vb_x_s and Vb_y_s) to execute the processing shown in the block diagram of FIG. 12, thereby controlling the target gravity center speed Vb_xy_mdfd (Vb_x_mdfd). And Vb_y_mdfd).

  Specifically, the center-of-gravity speed limiting unit 76 first executes the processes of the steady deviation calculating units 94_x and 94_y.

  In this case, the steady-state deviation calculating unit 94_x receives the estimated center-of-gravity velocity value Vb_x_s in the X-axis direction and the previous value Vb_x_mdfd_p of the control target center-of-gravity velocity Vb_x_mdfd in the X-axis direction via the delay element 96_x. . The steady deviation calculating unit 94_x first inputs the input Vb_x_s to the proportional / differential compensation element (PD compensation element) 94a_x. The proportional / differential compensation element 94_x is a compensation element whose transfer function is represented by 1 + Kd · S, and is obtained by multiplying the input Vb_x_s and its differential value (time change rate) by a predetermined coefficient Kd. Add the value and output the result of the addition.

  Next, the steady deviation calculating unit 94_x calculates a value obtained by subtracting the input Vb_x_mdfd_p from the output value of the proportional / differential compensation element 94_x by the calculating unit 94b_x, and then outputs the output value of the calculating unit 94b_x to the phase compensation It inputs into the low-pass filter 94c_x which has a function. The low-pass filter 94c_x is a filter whose transfer function is represented by (1 + T2 · S) / (1 + T1 · S). The steady deviation calculating unit 94_x outputs the output value Vb_x_prd of the low-pass filter 94c_x.

  In addition, the steady-state deviation calculating unit 94_y receives the Y-axis centroid speed estimated value Vb_y_s and the previous value Vb_y_mdfd_p of the Y-axis control target centroid speed Vb_y_mdfd via the delay element 96_y.

  Then, similarly to the above-described steady deviation calculation unit 94_x, the steady deviation calculation unit 94_y sequentially executes the processing of the proportional / differential compensation element 94a_y, the calculation unit 94b_y, and the low-pass filter 94c_y, and outputs the output value Vb_y_prd of the low-pass filter 94c_y. To do.

  Here, the output value Vb_x_prd of the steady deviation calculating unit 94_x is based on the current motion state of the vehicle system center of gravity as viewed from the Y-axis direction (in other words, the motion state of the mass point 60_x of the inverted pendulum model as viewed from the Y-axis direction). It has a meaning as a steady deviation with respect to the control target center-of-gravity speed Vb_x_mdfd of the estimated predicted center-of-gravity speed estimated value in the X-axis direction. Similarly, the steady deviation calculating unit 94_y output value Vb_y_prd is estimated from the current motion state of the vehicle system center of gravity as viewed from the X-axis direction (in other words, the motion state of the mass point 60_y of the inverted pendulum model as viewed from the X-axis direction). The convergence predicted value of the estimated center-of-gravity speed value in the future Y-axis direction has a meaning as a steady deviation with respect to the control target center-of-gravity speed Vb_y_mdfd. Hereinafter, the respective output values Vb_x_prd and Vb_y_prd of the steady deviation calculation units 94_x and 94_y are referred to as center-of-gravity velocity steady deviation prediction values.

  The center-of-gravity speed limiter 76 executes the processes of the steady-state deviation calculators 94_x and 94_y as described above, and then inputs the center-of-gravity speed steady-state deviation predicted values Vb_x_prd and Vb_y_prd to the limit processor 100. The processing of the limit processing unit 100 is the same as the processing of the limit processing unit 86 of the gain adjustment unit 78 described above. In this case, only the input value and the output value of each processing unit of the limit processing unit 100 are different from the limit processing unit 86, as indicated by reference numerals in parentheses in FIG.

  Specifically, in the limit processing unit 100, it is assumed that the moving speeds Vw_x and Vw_y of the virtual wheels 62_x and 62_y coincide with Vb_x_prd and Vb_y_prd, respectively, and the rotational angular velocities ωw_x_t, ωw_y_t is calculated by the processing units 86a_x and 86a_y, respectively. Then, a set of the rotational angular velocities ωw_x_t and ωw_y_t is converted into a set of rotational angular velocities ω_R_t and ω_L_t of the electric motors 31R and 31L by the XY-RL converter 86b.

  Further, these rotational angular velocities ω_R_t and ω_L_t are limited by the limiters 86c_R and 86c_L to values within the allowable range for the right motor and values within the allowable range for the left motor, respectively. Then, the values ω_R_lim2 and ω_L_lim2 after the restriction process are converted into the rotational angular velocities ωw_x_lim2 and ωw_y_lim2 of the virtual wheels 62_x and 62_y by the RL-XY conversion unit 86d.

  Next, the moving speeds Vw_x_lim2 and Vw_y_lim2 of the virtual wheels 62_x and 62_y corresponding to the rotational angular velocities ωw_x_lim2 and ωw_y_lim2 are calculated by the processing units 86e_x and 86e_y, respectively, and the moving speeds Vw_x_lim2 and Vw_y_lim2 are output from the limit processing unit 100. The

  By the above processing of the limit processing unit 100, the limit processing unit 100, like the limit processing unit 86, has the rotational angular velocities of the electric motors 31R and 31L corresponding to the set of output values Vw_x_lim2 and Vw_y_lim2 deviate from the allowable range. It is an essential requirement that the output values Vw_x_lim2 and Vw_y_lim2 are generated so that the output values Vw_x_lim2 and Vw_y_lim2 coincide with Vb_x_t and Vb_y_t, respectively, as much as possible under the necessary conditions.

  Note that the permissible ranges for the right motor and the left motor in the limit processing unit 100 need not be the same as the permissible ranges in the limit processing unit 86, and may be set to different permissible ranges.

  Returning to the description of FIG. 12, the center-of-gravity speed limiting unit 76 next calculates the control target center-of-gravity speeds Vb_x_mdfd and Vb_y_mdfd by executing the processing of the calculation units 102_x and 102_y, respectively. In this case, the calculation unit 102_x calculates a value obtained by subtracting the X-axis direction center-of-gravity velocity steady deviation predicted value Vb_x_prd from the output value Vw_x_lim2 of the limit processing unit 100 as the control target center-of-gravity velocity Vb_x_mdfd. Similarly, the calculation unit 102_y calculates a value obtained by subtracting the Y-axis direction center-of-gravity velocity steady-state deviation predicted value Vb_y_prd from the output value Vw_y_lim2 of the limit processing unit 100 as the Y-axis direction control center-of-gravity velocity Vb_y_mdfd.

  The control target center-of-gravity velocities Vb_x_mdfd and Vb_y_mdfd determined as described above are obtained when the output values V_x_lim2 and V_y_lim2 in the limit processing unit 100 are not forcibly limited, that is, in the X-axis direction of the wheel body 5. Even if the electric motors 31R and 31L are operated so that the respective movement speeds in the Y-axis direction coincide with the center-of-gravity speed steady-state deviation predicted values Vb_x_prd and Vb_y_prd, the rotational angular speeds of the electric motors 31R and 31L are allowed. When it falls within the range, the control target center-of-gravity speeds Vb_x_mdfd and Vb_y_mdfd are both determined to be “0”. Therefore, normally, Vb_x_mdfd = Vb_y_mdfd = 0.

  On the other hand, when the output values Vw_x_lim2 and Vw_y_lim2 of the limit processing unit 100 are generated by forcibly limiting the input values Vb_x_t and Vb_y_t, that is, the X axis direction and the Y axis direction of the wheel body 5 respectively. When the electric motors 31R and 31L are operated so that the moving speeds coincide with the center-of-gravity speed steady deviation predicted values Vb_x_prd and Vb_y_prd, respectively, the rotational angular speed of either of the electric motors 31R and 31L deviates from the allowable range. (When the absolute value of one of the rotational angular velocities is too high), the correction amount (= Vw_x_lim2-Vb_x_prd) from the input value Vb_x_prd of the output value Vw_x_lim2 of the limit processing unit 100 is X axis in the X axis direction. This is determined as the target control center of gravity velocity Vb_x_mdfd.

  For the Y-axis direction, a correction amount (= Vw_y_lim2-Vb_y_prd) from the input value Vb_y_prd of the output value Vw_y_lim2 of the limit processing unit 100 is determined as the control target center-of-gravity velocity Vb_y_mdfd in the Y-axis direction.

  In this case, for example, regarding the speed in the X-axis direction, the control target center-of-gravity speed Vb_x_mdfd is a speed opposite to the X-axis direction center-of-gravity speed steady deviation predicted value Vb_x_prd output by the steady deviation calculating unit 94_x. The same applies to the speed in the Y-axis direction.

  The above is the process of the gravity center speed limiting unit 76.

  Returning to the description of FIG. 9, the control unit 50 executes the processing of the gravity center speed limiting unit 76, the gain adjusting unit 78, and the deviation calculating unit 70 as described above, and then performs the processing of the attitude control calculating unit 80. Run.

  The processing of the attitude control calculation unit 80 will be described below with reference to FIG. In FIG. 13, reference numerals without parentheses are reference numerals related to processing for determining the virtual wheel rotation angular velocity command ωw_x_cmd that is a target value of the rotation angular velocity of the virtual wheel 62_x rotating in the X-axis direction. The reference numerals in parentheses are reference numerals related to the process of determining the virtual wheel rotation angular velocity command ωw_y_cmd that is the target value of the rotation angular velocity of the virtual wheel 62_y rotating in the Y-axis direction.

  The posture control calculation unit 80 includes a base body tilt angle deviation measurement value θbe_xy_s calculated by the deviation calculation unit 70, a base body tilt angular velocity measurement value θbdot_xy_s calculated in STEP2, and a center of gravity speed calculated by the center of gravity speed calculation unit 72. The estimated value Vb_xy_s, the control target center-of-gravity speed Vb_xy_mdfd calculated by the center-of-gravity speed limiting unit 76, the first gain adjustment parameter Kr1_xy calculated by the gain adjustment unit 78, and the second gain determined as described later in STEP 4 The adjustment parameter Kr2 and the operation mode are input.

  Then, the attitude control calculation unit 80 first calculates a virtual wheel rotation angular acceleration command ωdotw_xy_cmd by the following expressions 07x and 07y using the above input values.


ωwdot_x_cmd = K1_x ・ θbe_x_s + K2_x ・ θbdot_x_s
+ K3_x ・ (Vb_x_s−Vb_x_mdfd) ...... Formula 07x
ωwdot_y_cmd = K1_y ・ θbe_y_s + K2_y ・ θbdot_y_s
+ K3_y · (Vb_y_s−Vb_y_mdfd) ...... Formula 07y

Therefore, in the present embodiment, as an operation amount (control input) for controlling the motion of the mass point 60_x of the inverted pendulum model viewed from the Y-axis direction (and hence the motion of the vehicle system center-of-gravity point viewed from the Y-axis direction). Virtual wheel rotation angular acceleration command ωdotw_x_cmd and operation amount (control input) for controlling the motion of the mass point 60_y of the inverted pendulum model viewed from the X-axis direction (and hence the motion of the center of gravity of the vehicle system viewed from the X-axis direction) The virtual wheel rotation angular acceleration command ωdotw_y_cmd is determined by adding three manipulated variable components (three terms on the right side of equations 07x and 07y).

  In this case, the gain coefficients K1_x, K2_x, K3_x related to each manipulated variable component in Expression 07x are variably set according to the first gain adjustment parameter Kr1_x, the second gain adjustment parameter Kr2, and the operation mode. Similarly, gain coefficients K1_y, K2_y, and K3_y related to each manipulated variable component in Expression 07y are variably set according to the first gain adjustment parameter Kr1_x, the second gain adjustment parameter Kr2, and the operation mode. Hereinafter, the gain coefficients K1_x, K2_x, and K3_x in Expression 07x may be referred to as a first gain coefficient K1_x, a second gain coefficient K2_x, and a third gain coefficient K3_x, respectively. The same applies to the gain coefficients K1_y, K2_y, and K3_y in Expression 07y.

  The i-th gain coefficient Ki_x (i = 1, 2, 3) in Expression 07x and the i-th gain coefficient Ki_y (i = 1, 2, 3) in Expression 07y are as follows, as shown in FIG. It is determined by the expressions 09x and 09y.


Ki_x = (1−Wgain_x) · Ki_a_x + Wgain_x · Ki_b_x …… Formula 09y
(I = 1, 2, 3)
Ki_y = (1−Wgain_y) · Ki_a_y + Wgain_y · Ki_b_y …… Formula 09y
(I = 1, 2, 3)

In this case, Wgain_x, Ki_a_x, Ki_b_x in the expression 09x and Wgain_x, Ki_a_x, Ki_b_x in the expression 09y are the following (1 ) To (4).


(1) When the current operation mode is the boarding mode Wgain_x = Kr1_x, Ki_a_x = Gi_x_boarding A (i = 1, 2, 3)
Ki_b_x = Gi_x_ Boarding B (i = 1, 2, 3)
Wgain_y = Kr1_y, Ki_a_y = Gi_y_ boarding A (i = 1, 2, 3)
Ki_b_y = Gi_y_ Boarding B (i = 1, 2, 3)
(2) When the current operation mode is the independent mode Wgain_x = Kr1_x, Ki_a_x = Gi_x_independent A (i = 1, 2, 3)
Ki_b_x = Gi_x_independent B (i = 1, 2, 3)
Wgain_y = Kr1_y, Ki_a_y = Gi_y_independent A (i = 1, 2, 3)
Ki_b_y = Gi_y_independent B (i = 1, 2, 3)
(3) When the current operation mode is the mode for boarding action Wgain_x = Kr2, Ki_a_x = Gi_x_During boarding A (i = 1, 2, 3)
Ki_b_x = Gi_x_ boarding action (i = 1, 2, 3)
Wgain_y = Kr2, Ki_a_y = Gi_y_ boarding A (i = 1, 2, 3)
Ki_b_y = Gi_y_ boarding action (i = 1, 2, 3)
(4) When the current operation mode is the mode for getting off Wgain_x = Kr2, Ki_a_x = Gi_x_During boarding A (i = 1, 2, 3)
Ki_b_x = Gi_x_Get-off action (i = 1, 2, 3)
Wgain_y = Kr2, Ki_a_y = Gi_y_ boarding A (i = 1, 2, 3)
Ki_b_y = Gi_y_Getting off (i = 1,2,3)

Here, Gi_x_boarding A, Gi_x_boarding B, Gi_y_boarding A, Gi_y_boarding B are predetermined values (constant values) preset for the boarding mode, Gi_x_independent A, Gi_x_independent B, Gi_y_self-supporting A, Gi_y_self-supporting B are predetermined values (constant values) set in advance for the self-supporting mode, Gi_x_ boarding action, Gi_y_ boarding action are predetermined values set in advance for the boarding action mode (Constant value), Gi_x_Get-off action, Gi_y_Get-off action are predetermined values (constant values) set in advance for the get-off action mode.

  In this case, in this embodiment, | Gi_x_boarding A | <| Gi_x_boarding B |, | Gi_y_boarding A | <| Gi_y_boarding B |, | Gi_x_independent A | <| Gi_x_ Self-standing B |, | Gi_y_self-supporting A | <| Gi_y_self-supporting B |, | Gi_x_ boarding action | <| Gi_x_ boarding A |, | Gi_y_ boarding action | <| Gi_y_ boarding A |, | Gi_x _Get-off action | <| Gi_x_Aboarding A |, | Gi_y_Get-off action | <| Gi_y_Aboarding A |. Also, | Gi_x_self-supporting A | <| Gi_x_boarding A |, | Gi_y_self-supporting A | <| Gi_y_boarding A |.

  In this embodiment, Gi_x_boarding action = Gi_x_getting off action, Gi_y_boarding action = Gi_y_getting off action. However, Gi_x_ boarding action ≠ Gi_x_ getting off action or Gi_y_ boarding action ≠ Gi_y_ getting off action may be used.

  When the operation mode is the boarding mode, each i-th gain coefficient Ki_x (i = 1, 2, 3) used in the calculation of Expression 07x is set to two constant values Gi_x_boarding A, Gi_x. _Determined as the weighted average value of B during boarding. In this case, the weight (1-Wgain) and Wgain applied to Ki_a_x (= Gi_x_boarding A) and Ki_b_x (= Gi_x_boarding B) are changed according to the first gain adjustment parameter Kr1_x. Specifically, when Kr1_x = 0, Ki_x = Gi_x_boarding A, and when Kr1_x = 1, Ki_x = Gi_x_boarding B. As Kr1_x approaches “1” from “0”, the i-th gain coefficient Ki_x approaches from Ki_x = Gi_x_boarding A to Gi_x_boarding B (the absolute value of Ki_x increases). . In the boarding mode, the same applies to each i-th gain coefficient Ki_y (i = 1, 2, 3) used in the calculation of Expression 07y.

  Further, when the operation mode is the self-supporting mode, each i-th gain coefficient Ki_x (i = 1, 2, 3) used in the calculation of the expression 07x has two constant values Gi_x_self-supporting A, Gi_x corresponding thereto. _Determined as a weighted average value of self-supporting B In this case, the weight (1-Wgain) and Wgain applied to Ki_a_x (= Gi_x_independent A) and Ki_b_x (= Gi_x_independent B) are changed according to the first gain adjustment parameter Kr1_x. Specifically, when Kr1_x = 0, Ki_x = Gi_x_independent A, and when Kr1_x = 1, Ki_x = Gi_x_independent B. As Kr1_x approaches “1” from “0”, the i-th gain coefficient Ki_x approaches from Ki_x = Gi_x_independent A to Gi_x_independent B (the absolute value of Ki_x increases). In the self-supporting mode, the same applies to each i-th gain coefficient Ki_y (i = 1, 2, 3) used in the calculation of Expression 07y.

  Supplementally, as described above, the first gain adjustment parameters Kr1_x and Kr1_y are normally (specifically, when the output values Vw_x_lim1 and Vw_y_lim1 in the limit processing unit 86 of the gain adjustment unit 78 are not forcibly limited). ), “0”. Therefore, the i-th gain coefficients Ki_x, Ki_y (i = 1, 2, 3) in the on-board mode and the independent mode are usually Ki_x = Ki_a_x (= Gi_x_Aboarding A or Gi_x_independent A), Ki_y, respectively. = Ki_a_y (= Gi_y_boarding A or Gi_y_independent A). Therefore, Gi_x_ boarding A and Gi_y_ boarding A are appropriate values of the i-th gain coefficients Ki_x, Ki_y (i = 1, 2, 3) in the normal operation state of the vehicle 1 in the boarding mode. Is a preset constant value. Similarly, Gi_x_independent A and Gi_y_independent A are preliminarily set as appropriate values of the i-th gain coefficients Ki_x and Ki_y (i = 1, 2, 3) in the normal operation state of the vehicle 1 in the independent mode. It is a set constant value.

  On the other hand, when the operation mode is the mode for boarding action, each i-th gain coefficient Ki_x (i = 1, 2, 3) used for the calculation of Expression 07x is two constant values Gi_x_ during boarding. A, Gi_x_ is determined as a weighted average value of boarding action. In this case, the weight (1-Wgain) and Wgain applied to Ki_a_x (= Gi_x_during boarding A) and Ki_b_x (= Gi_x_boarding action) are changed according to the second gain adjustment parameter Kr2. Specifically, Ki_x = Gi_x_boarding A when Kr2_x = 0, and Ki_x = Gi_x_boarding action when Kr2_x = 1. As Kr2 approaches “0” from “1”, the i-th gain coefficient Ki_x approaches from Gi_x = Gi_x_boarding action to Gi_x_during boarding A. As a result, the absolute value of Ki_x increases. In this case, since | Gi_x_boarding action | <| Gi_x_ during boarding A |, each i-th gain coefficient Ki_x (i = 1, 2, 3) in the mode for boarding action except for Kr2 = 0. The absolute value of) is smaller than that in boarding mode. In the boarding action mode, the same applies to the i-th gain coefficient Ki_y (i = 1, 2, 3) used for the calculation of Expression 07y.

  Further, when the operation mode is the mode for getting off the vehicle, each i-th gain coefficient Ki_x (i = 1, 2, 3) used in the calculation of the expression 07x has two constant values Gi_x_ during boarding. A, Gi_x_Get-off action B is determined as a weighted average value. In this case, Ki_a_x (= Gi_x_Aboarding A), Ki_b_x (= Gi_x_Get-off action), the weight (1-Wgain) and Wgain, respectively, are changed according to the second gain adjustment parameter Kr2. Specifically, when Kr2_x = 0, Ki_x = Gi_x_boarding A, and when Kr2_x = 1, Ki_x = Gi_x_get-off action. As Kr2 approaches “0” from “1”, the i-th gain coefficient Ki_x approaches from Gi_x = Gi_x_get-off action to Gi_x_During boarding A. As a result, the absolute value of Ki_x increases. In this case, | Gi_x_getting-off action | <| Gi_x_during boarding A |, so that each i-th gain coefficient Ki_x (i = 1, 2, 3) in the boarding action mode except for Kr2 = 0. The absolute value of) is smaller than that in boarding mode. In the mode for getting off, each i-th gain coefficient Ki_y (i = 1, 2, 3) used in the calculation of Expression 07y is the same as described above.

  The attitude control calculation unit 80 calculates the expression 07x using the first to third gain coefficients K1_x, K2_x, and K3_x determined as described above, so that the virtual wheel related to the virtual wheel 62_x that rotates in the X-axis direction. Rotational angular acceleration command ωwdot_x_cmd is calculated.

  In more detail, with reference to FIG. 13, the posture control calculation unit 80 sets the manipulated variable component u1_x obtained by multiplying the base body tilt angle deviation measured value θbe_x_s by the first gain coefficient K1_x and the base body tilt angular velocity measured value θbdot_x_s. The operation amount component u2_x obtained by multiplying the two gain coefficients K2_x is calculated by the processing units 80a and 80b, respectively. Further, the attitude control calculation unit 80 calculates a deviation (= Vb_x_s−Vb_x_mdfd) between the estimated center-of-gravity velocity value Vb_x_s and the target gravity center velocity for control Vb_x_mdfd (= Vb_x_s−Vb_x_mdfd), and multiplies this deviation by the third gain coefficient K3_x. The operation amount u3_x is calculated by the processing unit 80c. Then, the posture control calculation unit 80 calculates the virtual wheel rotation angular acceleration command ωwdot_x_cmd by adding these manipulated variable components u1_x, u2_x, u3_x in the calculation unit 80e.

  Similarly, the posture control calculation unit 80 calculates the expression 07y using the first to third gain coefficients K1_y, K2_y, and K3_y determined as described above, so that the virtual wheel 62_y that rotates in the Y-axis direction is obtained. The related virtual wheel rotation angular acceleration command ωwdot_y_cmd is calculated.

  In this case, the posture control calculation unit 80 multiplies the operation amount component u1_y obtained by multiplying the base body tilt angle deviation measurement value θbe_y_s by the first gain coefficient K1_y and the base body tilt angular velocity measurement value θbdot_y_s by the second gain coefficient K2_y. The operation amount component u2_y is calculated by the processing units 80a and 80b, respectively. Further, the attitude control calculation unit 80 calculates a deviation (= Vb_y_s−Vb_y_mdfd) between the center-of-gravity velocity estimated value Vb_y_s and the control target center-of-gravity velocity Vb_y_mdfd by the calculation unit 80d, and multiplies this deviation by the third gain coefficient K3_y. The operation amount u3_y is calculated by the processing unit 80c. Then, the attitude control calculation unit 80 calculates the virtual wheel rotation angular acceleration command ωwdot_x_cmd by adding these manipulated variable components u1_y, u2_y, u3_y in the calculation unit 80e.

  Here, the first term (= the first manipulated variable component u1_x) and the second term (= the second manipulated variable component u2_x) on the right side of the expression 07x are the body tilt angle deviation measured values θbe_x_s in the direction around the X axis, It has a meaning as a feedback manipulated variable component for converging to “0” (converging the base body tilt angle measurement value θb_x_s to the target value θb_x_obj) by the PD law (proportional / differential law) as a feedback control law.

  In addition, the third term (= third manipulated variable component u3_x) on the right side of Expression 07x converges to “0” by the proportional law as the feedback control law for the deviation between the center of gravity speed estimated value Vb_x_s and the control target center of gravity speed Vb_x_mdfd. It has a meaning as a feedback manipulated variable component for causing Vb_x_s to converge to Vb_x_mdfd.

  The same applies to the first to third terms (first to third manipulated variable components u1_y, u2_y, u3_y) on the right side of Expression 07y.

  Normally, as described above (more specifically, when the output values V_x_lim2 and V_y_lim2 are not forcibly limited by the limit processing unit 100 of the centroid speed limiting unit 76), the control target centroid speed Vb_x_mdfd , Vb_y_mdfd is “0”. In the normal case where Vb_x_mdfd = Vb_y_mdfd = 0, the third manipulated variable components u3_x and u3_y match the values obtained by multiplying the center-of-gravity velocity estimated values Vb_x_s and Vb_y_s by the third gain coefficients K3_x and K3_y, respectively.

  After calculating the virtual wheel rotation angular acceleration commands ωwdot_x_cmd and ωwdot_y_cmd as described above, the attitude control calculation unit 80 then integrates the ωwdot_x_cmd and ωwdot_y_cmd by the integrator 80f, thereby obtaining the virtual wheel rotation speed command. Determine ωw_x_cmd and ωw_y_cmd.

  The above is the details of the processing of the attitude control calculation unit 80.

  Supplementally, the third term on the right side of the expression 07x is virtually divided into an operation amount component (= K3_x · Vb_x_s) according to Vb_x_s and an operation amount component (= −K3_x · Vb_x_mdfd) according to Vb_x_mdfd The wheel rotation angular acceleration command ωdotw_x_cmd may be calculated. Similarly, the third term on the right side of Expression 07y is divided into an operation amount component (= K3_y · Vb_y_s) according to Vb_y_s and an operation amount component (= −K3_y · Vb_y_mdfd) according to Vb_y_mdfd, The wheel rotation angular acceleration command ωdotw_y_cmd may be calculated.

  In the present embodiment, the rotational angular acceleration commands ωw_x_cmd and ωw_y_cmd of the virtual wheels 62_x and 62_y are used as the operation amount (control input) for controlling the behavior of the vehicle system center-of-gravity point. The driving torque of 62_x, 62_y or a translational force obtained by dividing this driving torque by the radii Rw_x, Rw_y of the virtual wheels 62_x, 62_y (that is, the frictional force between the virtual wheels 62_x, 62_y and the floor surface) is manipulated. It may be used as a quantity.

  Returning to the description of FIG. 9, the control unit 50 next inputs the virtual wheel rotation speed commands ωw_x_cmd and ωw_y_cmd determined as described above by the attitude control calculation unit 80 to the motor command calculation unit 82, and the motor command calculation unit By executing the process 82, the speed command ω_R_cmd of the electric motor 31R and the speed command ω_L_cmd of the electric motor 31L are determined. The processing of the motor command calculation unit 82 is the same as the processing of the XY-RL conversion unit 86b of the limit processing unit 86 (see FIG. 11).

  Specifically, the motor command calculation unit 82 replaces ωw_x, ωw_y, ω_R, and ω_L in the equations 01a and 01b with ωw_x_cmd, ωw_y_cmd, ω_R_cmd, and ω_L_cmd, respectively, and sets ω_R_cmd and ω_L_cmd as unknowns. By solving, the respective speed commands ω_R_cmd and ω_L_cmd of the electric motors 31R and 31L are determined.

  Thus, the vehicle control calculation process of STEP 9 is completed.

  Next, the processing of STEP 4 (control characteristic parameter determination processing) that has been described later will be described in detail with reference to FIGS.

  The process of STEP 4 is executed as shown in the flowchart of FIG.

  Specifically, the control unit 50 first determines in STEP 11 which operation mode is the current operation mode (in the current control processing cycle).

  Here, in the present embodiment, when the control unit 50 is activated, the control unit 50 sets the self-supporting mode as the initial operation mode of the vehicle 1. Then, the control unit 50 determines an operation mode in the next control processing cycle in each subsequent control processing cycle. Therefore, the operation mode determined in STEP 11 is basically the operation mode determined in the previous control processing cycle.

  In STEP 11, the control unit 50 corresponds to each of the case where the current operation mode is the independent mode, the mode during boarding, the mode for boarding action, and the mode for getting off action. By executing the processing of STEPs 12, 13, 14, and 15, respectively, the next operation mode and the current value of the control characteristic parameter are determined. Thereby, the process of FIG. 14 is completed.

  The processing of STEP 12 corresponding to the case where the current operation mode is the self-supporting mode is executed by the subroutine processing shown in the flowchart of FIG.

  In this process, the control unit 50 first determines whether or not the boarding operation part 58a of the operation unit 58 has been turned ON (pushing operation) based on the output of the boarding / alighting operation unit 58 obtained in STEP3. Is determined in STEP12-1.

  When the determination result is negative, the process proceeds to STEP 12-2, and the control unit 50 holds the next operation mode in the current operation mode (= independent mode). If the determination result in STEP 12-1 is affirmative (when the occupant is about to board the vehicle 1 and the onboard operation unit 58a is turned on), the control unit 50 boardes the next operation mode. Change to action mode.

  Next, in STEP 12-4, the control unit 50 sets the value of the second gain adjustment parameter Kr2 to “0” (initialization). Further, in STEP 12-5, the control unit 50 sets the setting value θb_x_self-supporting for the self-supporting mode as the base body tilt angle target values θb_x_obj and θb_y_obj. Thereby, the process of FIG. 15 is completed.

  With the above processing, when the current operation mode determined in STEP 11 is set to the self-supporting mode, the set value θb_x_self-supporting for the self-supporting mode is set as the base body tilt angle target values θb_x_obj and θb_y_obj. Then, when the boarding operation unit 58a of the boarding / alighting operation element 58 is turned on, the operation mode in the next control processing cycle is changed to the boarding action mode.

  Next, the processing of STEP 13 corresponding to the case where the current operation mode is the boarding mode is executed by a subroutine processing shown in the flowchart of FIG.

  In this process, the control unit 50 first determines whether or not the getting-off operation unit 58b of the operating element 58 has been turned ON (pushing operation) based on the output of the boarding / dismounting operating element 58 obtained in STEP3. Is determined in STEP13-1.

  When this determination result is negative, the process proceeds to STEP 13-2, and the control unit 50 holds the next operation mode in the current operation mode (= in-boarding mode). When the determination result in STEP 13-1 is affirmative (when the occupant attempts to get off the vehicle 1 and turns on the operation unit 58b for getting off), the control unit 50 sets the next operation mode to the act of getting off the vehicle. Change to mode.

  Next, the control unit 50 sets (initializes) the value of the second gain adjustment parameter Kr2 to “0” in STEP 13-4. Further, in STEP 13-5, the control unit 50 sets the setting value θb_x_in boarding mode for the in-boarding mode as the base body tilt angle target values θb_x_obj and θb_y_obj. Thereby, the process of FIG. 16 is completed.

  Through the above processing, when the current operation mode determined in STEP 11 is set to the boarding mode, the setting value θb_x_ boarding mode for the boarding mode is set as the base body tilt angle target values θb_x_obj and θb_y_obj. The When the getting-off operation unit 58b of the boarding / alighting operation element 58 is turned ON, the operation mode in the next control processing cycle is changed to the getting-off action mode.

  Next, the processing of STEP 14 corresponding to the case where the current operation mode is the boarding action mode is executed by the subroutine processing shown in the flowcharts of FIGS. 17 and 18.

  In this process, the control unit 50 first determines whether or not the getting-off operation unit 58b of the operating element 58 has been turned ON (pushing operation) based on the output of the boarding / dismounting operating element 58 obtained in STEP3. Is determined in STEP13-1. If this determination result is affirmative, the control unit 50 executes the process of FIG.

  Specifically, the control unit 50 determines in STEP 14-20 whether or not the previous operation mode is a boarding action mode.

  If this determination result is negative, the previous operation mode is the self-sustained mode, and the occupant mistakenly operates the boarding operation unit 58a of the boarding / alighting operation member 58 in the self-supporting mode. Is the situation. In this case, the control unit 50 forcibly changes the current operation mode from the boarding action mode to the self-supporting mode in STEP14-21.

  Then, in STEP14-22, 14-23, and 14-24, the control unit 50 sets the value of the second gain adjustment parameter Kr2 to “0” and sets the base body tilt angle target value θb_xy_obj for the independent mode. To set the set value θb_xy_self-supporting and to set the next operation mode to the self-supporting mode.

  Further, when the determination result in STEP14-20 is affirmative, the occupant cancels the boarding action in the middle of the boarding action mode and gets off the vehicle. In this case, the control unit 50 maintains the value of the second gain adjustment parameter Kr2 at the previous value and the base body tilt angle basic value θb_xy_obj at the previous time in STEP14-26, 14-27, and 14-28, respectively. The value is held and the next operation mode is changed to the mode for getting off the vehicle. In this case, the current operation mode is held in the boarding action mode.

  After executing the processing of STEP14-24 or STEP14-28 as described above, the control unit 50 next sets the value of a flag Flag described later to “0” in STEP14-25. Thereby, the processing of FIGS. 17 and 18 is completed.

  Returning to the description of FIG. 17, when the determination result of STEP 14-1 is negative, the control unit 50 next determines both the left and right sides based on the outputs of the load sensors 54 R and 54 L acquired in STEP 3. It is determined in STEP 14-2 whether or not the steps 3R and 3L are in the ON state.

  In this embodiment, the fact that the right step 3R is in the ON state means that the load detection value indicated by the output of the load sensor 54R in the step 3R exceeds a predetermined value. In other words, the passenger's feet are placed on the step 3R. The fact that step 3R is in the OFF state means a state in which feet are not substantially placed on step 3R (the weight of the occupant is not on step 3R). The same applies to the ON state and OFF state of the left step 3L.

  If the determination result in STEP 14-2 is negative, the passenger is about to start the actual boarding action in the boarding action mode, and the feet of the passenger are still on both steps 3R and 3L. It is a situation that is not performed, or a situation in which an occupant places one foot on step 3R or 3L during the actual boarding action.

  In this case, the control unit 50 determines whether or not both steps 3R and 3L are in the OFF state, that is, whether or not the occupant's feet are still on the steps 3R and 3L. -3.

  If the determination result is affirmative, the control unit 50 sets the value of the weight coefficient Wth for adjusting the base body tilt angle target value θb_xy_obj to “0” in STEP14-13, The value of the gain adjustment parameter Kr2 is set to “1”. Furthermore, the control unit 50 sets the value of a flag Flag described later to “0” in STEP14-14. In the present embodiment, the weighting factor Wth is a value that is variably determined within the range from “−1” to “1” in the boarding action mode or the getting-off action mode.

  Next, the control unit 50 holds the next operation mode in the current operation mode (= boarding action mode) in STEP14-11. Further, in STEP 14-12, the control unit 50 determines the base body tilt angle target value θb_xy_obj in accordance with the weighting factor Wth, and ends the processing of FIG. Details of the processing of STEP14-12 will be described later.

  If the determination result in STEP 14-3 is negative, the passenger is placing one foot on either one of steps 3R and 3L at the start of the boarding action or immediately thereafter. . In this case, the control unit 50 determines in STEP 14-4 whether or not the previous operation mode is the boarding action mode.

  When this determination result is negative, the operation mode is a self-supporting mode, and immediately after the transition from the self-supporting mode to the boarding action mode, either one of steps 3R and 3L is performed. This is the situation where the passenger puts one of the legs first. In this case, the control unit 50 determines whether or not the right step 3R is in the ON state, that is, the occupant's foot (right foot) is placed only on the right step 3R of the steps 3R and 3L. Whether or not there is is determined in STEP 14-6. If the determination result is affirmative, the control unit 50 sets the value of the weight coefficient Wth to “1” in STEP 14-7. When the determination result of STEP 14-6 is negative (when the occupant's foot (left foot) is placed only on the left step 3L), the control unit 50 sets the weight coefficient Wth in STEP 14-7. The value is “−1”.

  Here, supplementally, in the vehicle 1 of the present embodiment, in the boarding action, the occupant basically puts one foot on one 3R or 3L of steps 3R and 3L, and in this state, the other foot Is quickly removed and placed on the other step 3L or 3R. At this time, for example, if the base body 9 is tilted to the right side of the occupant while the right foot of the occupant is placed on the step 3R, the base body 9 is further tilted to the right by the load that the step 3R receives from the occupant at the moment the left foot is removed from the floor. Therefore, smooth boarding becomes difficult. For this reason, when boarding the vehicle 1 from the state where the right foot of the occupant is placed on the step 3R, the occupant basically tilts the base body 9 to the left side to some extent while the right foot is placed on the step 3R. In this state, the occupant leaves the left foot and places the left foot on Step 3L. Such a boarding action is the same when the occupant gets on the vehicle 1 from the state where his left foot is placed on the step 3L.

  In the case of getting off, for the same reason as above, when the occupant leaves one foot on step 3R or 3L and removes the other foot from step 3L or 3R, it is the same as the foot to be removed. It is desirable to tilt the substrate 9 to the side.

  For this reason, in the present embodiment, the control unit 50 uses the base body tilt in the boarding mode as the base body tilt angle target value θb_y_obj in the direction around the X axis during the boarding action or the getting off action. Rather than the posture corresponding to the angle target value θb_y_obj (= θb_y_ boarding), the posture inclined to either the right side or the left side of the occupant (the direction in which the parallel direction of steps 3R and 3L is inclined with respect to the horizontal direction) Set the angle value. In the present embodiment, the polarity of the weighting factor Wth when the base 9 is tilted to the left is positive, and the polarity of the weighting factor Wth when the base 9 is tilted to the right is negative.

  Therefore, when the determination result of STEP 14-6 is affirmative (when the occupant's foot (right foot) is placed only on the right side step 3R), the weighting factor Wth is set to STEP 14 to tilt the base 9 to the left side. At -7, the value is determined to be positive. If the determination result of STEP 14-6 is negative (when the occupant's foot (right foot) is placed only on the left step 3L), the weight coefficient Wth is STEP 14 to tilt the base 9 to the right. In -8, the negative polarity is determined.

  Supplementally, in the vehicle 1 having the structure of the present embodiment, the base 9 is tilted to the left from the posture of the base 9 such that the parallel direction of the steps 3R and 3L is the horizontal direction. The horizontal distance (distance in the X-axis direction) between the contact portion of the step 3R with the right foot) and the ground contact portion of the wheel body 5 (the tilting center of the footrest portion 3 and the base 9 around the X-axis) is the step 3R. , 3L becomes smaller than the horizontal distance when the parallel direction is the horizontal direction. Further, by tilting the base body 9 to the right side from the posture of the base body 9 such that the parallel direction of the steps 3R and 3L is the horizontal direction, the left side step 3L (more specifically, the contact portion with the left foot of the step 3L), A state in which the horizontal distance (distance in the X-axis direction) between the ground contact portion of the wheel body 5 (the footrest portion 3 and the tilting center of the base 9 around the X-axis) is the horizontal direction of the steps 3R and 3L. It becomes smaller than the horizontal distance at.

  After determining the weighting factor Wth in STEP 14-7 or 14-8 as described above, the control unit 50 sets the value of the second gain adjustment parameter Kr2 to “1” in STEP 14-9. Further, after setting the value of the flag Flag to “0” in STEP14-10, the control unit 50 executes the processes in STEP14-11 and 14-12, and ends the process in FIG.

  If the determination result of STEP 14-4 is affirmative, the determinations of STEP 14-1, 14-2, and 13-3 are made in each control processing cycle after the start of the boarding action mode and before the current control processing cycle. If the result is negative, negative, or positive, or after the start of the boarding action mode, at any one or more control processing cycles before the current control processing cycle, the determination of STEP 14-2 This is a case where the result is once positive and the processing of STEPs 14-16 and 14-17 described later has already been executed.

  In this case, the control unit 50 determines whether or not the value of the flag Flag is “1” in STEP 14-5. This flag Flag is a flag indicating whether or not the processing of STEPs 14-16 and 14-17 has already been executed by values “1” and “0”, respectively. Then, when the flag is 0 in STEP14-5, the control unit 50 (this situation is a case where the determination result in STEP14-2 is not yet positive after the start of the boarding action mode). In this situation, the occupant puts one foot on step 3R or 3L), the processing from STEP 14-6 described above is executed, and the processing in FIG.

  Further, when Flag = 1 in STEP14-5, the control unit 50 executes processing from STEP14-16 described later.

  In the boarding action, the occupant finally places both feet on the steps 3R and 3L. At this time, the determination result of STEP14-2 becomes affirmative.

  In this case, the control unit 50 executes the processing from STEP14-15. That is, the control unit 50 sets the value of the flag Flag to “1” in STEP14-15. Next, the control unit 50 executes the processing of STEPs 14-16 and 14-17, and changes the current value of the second gain adjustment parameter Kr2 and the current value of the weighting factor Wth from the previous value.

  Specifically, in STEP14-16, the control unit 50 sets the current value of Kr2 closer to “0” by a predetermined value Δkr1 (0 <Δkr1 <1) than the previous value (= Kr2). The previous value of -Δkr1). In this case, if the previous value of Kr2−Δkr1 <0, the current value of Kr2 is set to “0”.

  In STEP14-17, the control unit 50 determines the current value of Wth to be a value that is closer to “0” by a predetermined value Δw1 (0 <Δw1 <1) than the previous value. More specifically, when the previous value of Wth ≧ 0, the current value of Wth is obtained by subtracting Δw1 from the previous value of Wth (provided that the previous value of Wth−Δw1 <0, 0 "). When the previous value of Wth <0, the current value of Wth is obtained by adding Δw1 to the previous value of Wth (however, when the previous value of Wth + Δw1 <0, “0”) To be determined.

  In addition, Δkr1 and Δw1 have meanings as values that define the rate of change of Kr2 and Wth (the amount of change per control processing cycle), respectively. These Δkr1 and Δw1 do not need to be the same value, and may be set to different values (for example, Δkr1 <Δw1).

  Supplementally, even after the occupant places both feet on the steps 3R and 3L, the occupant temporarily leaves the step 3R or 3L for reasons such as balancing the posture of the base 9. There is also. In such a case, the determination result in STEP14-5 becomes affirmative, and the processes in STEP14-16 and 14-17 are executed.

  After executing the processing of STEPs 14-16 and 14-17 as described above, the control unit 50 next determines whether or not both the current value of Wth and the current value of Kr2 determined as described above are “0”. Is determined in STEP14-18. And when this judgment result is negative, the control unit 50 performs the process from above-mentioned STEP14-11, and complete | finishes the process of FIG. If the determination result in STEP 14-18 is affirmative, the control unit 50 changes the next operation mode from the boarding action mode to the in-boarding mode in STEP 14-19. In STEP 14-12, the base body tilt angle target value θb_xy_obj is determined.

  In the present embodiment, in STEP 14-12, the base body tilt angle target value θb_xy_obj is determined by the following equations 11x and 11y.


θb_x_obj = (1- | Wth |) · θb_x_ boarding
+ | Wth | ・ θb_x_ getting on and off ...... Formula 11x
θb_y_obj = (1- | Wth |) · θb_y_ boarding
+ | Wth | ・ (sgn (Wth) ・ θb_y_ on / off) …… Formula 11y

Note that sgn (Wth) is a sign function of Wth. When Wth> 0, sgn (Wth) = + 1, and when Wth <0, sgn (Wth) = − 1 and Wth = 0. In some cases, sgn (Wth) = 0. Therefore, for the second term on the right side of Expression 11y, | Wth | · (sgn (Wth) · θb_y_ on / off) = Wth · θb_y_ on / off.

  Here, θb_x_ boarding / alighting in Expression 11x and sgn (Wth) · θb_y_ boarding / alighting in Expression 11y are inclination angles having a predetermined value set in advance as the inclination angle of the base body 9 suitable for the boarding action and the boarding action. In this case, in this embodiment, the θb_x_ boarding / alighting in the direction around the Y axis is set to the same value when the polarity of Wth is positive and when it is negative.

  On the other hand, the θb_y_ boarding / alighting in the direction around the X axis is the base 9 in the direction around the X axis suitable for boarding and getting off when the polarity of Wth is positive (when sgn (Wth) = + 1). Is set as the inclination angle. In this case, θb_y_ boarding / alighting is an inclination angle at which the base body 9 is tilted to the left, and θb_y_ boarding / unloading ≠ θb_y_boarding. In this embodiment, the angle obtained by inverting the sign of θb_y_ getting on and off (= −θb_y_ getting on and off), that is, the inclination angle at which the base body 9 is tilted to the right by the same magnitude as θb_y_ getting on and off, the polarity of Wth is In the case of negative polarity (when sgn (Wth) = − 1), it is set as the inclination angle of the base body 9 in the direction around the X-axis suitable for boarding action and getting-off action.

  Therefore, in STEP14-12, the base body tilt angle target value θb_x_obj in the direction around the Y axis is determined to be a weighted average of θb_x_ during boarding and θb_x_ boarding / alighting with (1- | Wth |) and | Wth | as weights. Is done. In this case, when Wth = + 1 or −1, θb_x_obj = θb_x_ boarding / exiting is performed, and when Wth = 0, θb_x_obj = θb_x_ boarding. Then, as | Wth | approaches from “1” to “0”, θb_x_obj approaches from θb_x_ getting on and off to θb_x_ boarding.

  Note that θb_x_ boarding / alighting may coincide with, for example, θb_x_ boarding. In this case, θb_x_obj determined by Expression 11x always coincides with θb_x_ boarding regardless of the value of Wth.

  Further, the base body inclination angle target value θb_y_obj in the direction around the X axis in the boarding action mode is determined as a weighted average between θb_x_ boarding and (sgn (Wth) · θb_y_ boarding / alighting). In this case, when Wth = + 1 or −1, θb_y_obj = + θb_y_ getting on / off or −θb_y_ getting on / off, and when Wth = 0, θb_y_obj = θb_y_ boarding. Then, as | Wth | approaches from “1” to “0”, θb_y_obj approaches from θb_y_ boarding / unloading to θb_y_ boarding.

  Supplementally, in this embodiment, the position of step 3R on the right side when viewed in the X-axis direction when the actual base body inclination angle θb_y coincides with the + θb_y_ boarding / exiting position, The position of the body 5 is just above (the position above the tilting center of the footrest 3 and the base 9 around the X axis) (a position above the vertical direction) or a position close thereto, and the actual base body tilt angle θb_y is −θb_y. _ The position of step 3L on the left side when viewed in the X-axis direction in a state that coincides with getting on and off is set to be a position directly above or close to the grounding portion of the wheel body 5.

  The above is the details of the processing of STEP14 in the boarding action mode.

  When the current operation mode determined in STEP 11 by the above processing is set to the boarding action mode, basically, the second gain adjustment parameter Kr2 and the base body tilt angle target value θb_xy_obj are as follows. Is determined.

  That is, when the occupant puts his / her foot on step 3R or 3L to start the boarding action, the second gain adjustment parameter Kr2 is set to “1”. In this situation (one-legged period), the i-th gain coefficients Ki_x and Ki_y (i = 1, 2, 3) determined by the equations 09x and 09y are Ki_b_x (= Gi_x_boarding action) and Ki_b_y ( = Gi_y_boarding action). Accordingly, the absolute values of Ki_x and Ki_y are smaller than those in the on-board mode.

  Further, in this situation (single foot placement period), the weight coefficient Wth is set to “1” or “−1”. For this reason, the Y axis around component θb_x_obj of the base body tilt angle target value θb_xy_obj determined by the formulas 11x and 11y is set to θb_x_ getting on and off, and the X axis around component θb_y_obj is on the left or right side of the base 9. The inclination angle is set to + θb_y getting on / off or −θb_y getting on / off. More specifically, when the occupant's right foot is on step 3R, the left side inclination + θb_y on / off is set as θb_y_obj, and when the occupant's left foot is on step 3L, the right side inclination −θb_y on / off is set. It is set as θb_y_obj.

  Note that Kr2 and θb_xy_obj are held constant when only one occupant's foot is placed on step 3R or 3L.

  Next, when only one occupant's foot is placed on Step 3R or 3L as described above, the rest of the feet (legs that have been landed) are placed on Step 3L or 3R in order to complete the boarding action. , Kr2 is then determined so as to gradually approach “0” from “1”. The time required for the value of Kr2 to reach “0” is defined by the predetermined value Δkr1.

  In this situation, the i-th gain coefficient Ki_x (i = 1, 2, 3) determined by the expression 09x approaches Gi_x_ boarding while the absolute value gradually increases from Gi_x_ boarding action. Go. Similarly, the i-th gain coefficient Ki_y (i = 1, 2, 3) determined by the expression 09y approaches Gi_y_ boarding while the absolute value gradually increases from Gi_y_ boarding action. . In this case, until Ki_x and Ki_y reach Gi_x_ boarding and Gi_y_ boarding, the absolute values of Ki_x and Ki_y are kept smaller than those in the boarding mode.

  In this situation, the weight coefficient Wth is determined to approach “0” from “1” or “−1”. For this reason, the base body tilt angle target value θb_x_obj in the direction around the Y axis determined by the equation 11x is determined so as to gradually approach from θb_x_ boarding / alighting to the set value θb_x_ boarding mode for boarding. Further, the base body tilt angle target value θb_y_obj in the direction around the X-axis determined by the equation 11y is determined so as to gradually approach from the + θb_y boarding / alighting or −θb_y boarding / alighting to the setting value θb_y_ boarding for the boarding mode. The It should be noted that the time until θb_x_obj and θb_y_obj arrive while boarding θb_x_ and boarding θb_y_ is defined by the predetermined value Δw1.

  Supplementally, when θb_x_ boarding / exiting = θb_x_ boarding, θb_x_obj does not change and is kept while boarding θb_x_.

  Further, during the boarding action, the occupant basically grips at least one of the grip portions 15R and 15L.

  Then, finally, when Kr2 changes to “0” and Wth changes to “0” (and θb_xy_obj changes until θb_xy_ boarding), the operation mode in the next control processing cycle becomes the boarding mode. Changed to Therefore, even if the occupant puts both feet on steps 3R and 3L to complete the boarding action, the operation mode is for boarding action until Kr2 becomes “0” and θb_xy_obj becomes θb_xy_ boarding. Maintained in mode.

  In addition, after the start of the boarding action mode, when the occupant has not put his / her foot on step 3R or 3L (when the determination result in STEP14-3 becomes affirmative), the second gain adjustment parameter Kr2 is , “1”. Accordingly, the i-th gain coefficients Ki_x and Ki_y (i = 1, 2, 3) determined by the expressions 09x and 09y are Ki_b_x (= Gi_x_boarding action), Ki_b_y (= Gi_y_boarding action), respectively. Become. On the other hand, in this situation, since the weighting factor Wth is provisionally set to “0”, the base body tilt angle target value θb_xy_obj is provisionally set to the same value as the boarding mode (= θb_xy_ boarding). Note that the base body tilt angle target value θb_xy_obj in this situation may be set to the same value as the self-supporting mode (= θb_xy_self-supporting).

  Further, when the getting-off operation unit 58b of the boarding / alighting operation element 58 is turned ON in the boarding action mode, the operation mode in the previous control processing cycle (the previous operation mode) is independent. In the case of the mode, the current operation mode is forcibly changed to the independent mode, and the i-th gain coefficient Ki_x, Ki_y (i = 1, 2, 3) and the base body tilt angle target value θb_xy_obj are respectively It is set to the same value as the self-supporting mode. Then, the operation mode in the next control processing cycle is changed to the independent mode.

  Further, when the operation mode in the previous control processing cycle (immediate operation mode) is not the self-supporting mode (in the case of the boarding action mode), Kr2 is held at the same value as the previous value. As a result, the i-th gain coefficient Ki_x, Ki_y (i = 1, 2, 3) is held at the same value as the previous value. Further, the base body tilt angle target value θb_xy_obj is also held at the same value as the previous value. And the operation mode in the next control processing cycle is changed to the mode for alighting action.

  Next, the processing of STEP 15 that is processing when the current operation mode is the mode for getting off is executed by the subroutine processing shown in the flowchart of FIG.

  In this process, the control unit 50 first executes the same determination process as in STEP 14-2 in STEP 15-1 based on the outputs of the load sensors 54R and 54L acquired in STEP 3, and the left and right steps 3R and 3L. It is determined whether or not is in an ON state.

  If this determination result is affirmative, that is, if both feet of the occupant are still on the steps 3R and 3L and a substantial dismounting action has not started, the control unit 50 In STEP15-10, the target value Wthaim of the weighting factor Wth in the getting-off action and the target value Kr2aim of the second gain adjustment parameter Kr2 are set to “0”, respectively. And the control unit 50 performs the process from STEP15-7 mentioned later.

  If the determination result in STEP 15-1 is negative, the control unit 50 executes the same determination process as in STEP 14-3 in STEP 15-2, and whether both steps 3R and 3L are in the OFF state. Determine whether.

  When the determination result is affirmative, the occupant has removed both feet from Steps 3R and 3L, and the dismounting action has substantially ended. In this case, the control unit 50 forcibly changes the current operation mode from the boarding action mode to the self-supporting mode in STEP 15-11.

  Further, the control unit 50 executes the same processing as STEP14-22 to 14-24 in STEP15-12 to 15-14, and ends the processing of FIG. That is, the control unit 50 sets the value of the second gain adjustment parameter Kr2 to “0”, sets the set value θb_xy_self-supporting for the independent mode as the base body tilt angle target value θb_xy_obj, and the next operation The mode is set to the independent mode in STEPs 15-12 to 15-14, respectively.

  If the determination result in STEP 15-2 is negative, this is a situation in the middle of getting off (specifically, a situation in which the occupant places only one foot on step 3R or 3L). In this case, the control unit 50 determines whether or not the right step 3R is in the ON state, that is, the occupant's foot (right foot) is placed only on the right step 3R of the steps 3R and 3L. Whether or not there is is determined in STEP15-3. If the determination result is affirmative, the control unit 50 sets the target value Wthaim of the weight coefficient Wth to “1” in STEP 15-4. When the determination result in STEP 15-3 is negative (when the occupant's foot (left foot) is placed only on the left step 3L), the control unit 50 sets the weight coefficient Wth in STEP 15-5. The target value Wthaim is set to “−1”.

  After determining the target value Wthaim of the weighting factor Wth in this way, the control unit 50 sets the target value Kr2aim of the second gain adjustment parameter Kr2 to “1” in STEP 15-6.

  After executing the processing of STEP 15-6 as described above, or after executing the processing of STEP 15-10, the control unit 50 next executes the processing of STEP 15-7 to set the second gain adjustment parameter Kr2. The current value and the current value of the weight coefficient Wth are determined.

  Specifically, the control unit 50 determines the current value of Kr2 to be a value closer to the target value Kr2aim (= 0 or 1) by a predetermined value Δkr2 (0 <Δkr2 <1) than the previous value. To do. More specifically, when the previous value of Kr2 ≧ Kr2aim, the current value of Kr2 is the value obtained by subtracting Δkr2 from the previous value of Kr2 (however, when the value of the subtraction result is smaller than Kr2aim) , Kr2aim). When the previous value of Kr2 <Kr2aim, the current value of Kr2 is obtained by adding Δkr2 to the previous value of Kr2 (however, if the value of the addition result is larger than Kr2aim, Kr2aim Determined).

  Further, the control unit 50 determines the current value of Wth to be a value closer to the target value Wthaim (= 0, 1 or −1) by a predetermined value Δw2 (0 <Δw2 <1) than the previous value. Is done. More specifically, when the previous value of Wth ≧ Wthaim, the current value of Wth is the value obtained by subtracting Δw2 from the previous value of Wth (however, when the value of the subtraction result is smaller than Wthaim) , Wthaim). If the previous value of Wth <Wthaim, the current value of Wth is the value obtained by adding Δw2 to the previous value of Wth (however, if the result of the addition is greater than Wthaim, Wthim) Determined).

  Note that Δkr2 and Δw2 do not have to be the same value, and may be set to different values. Further, Δkr2 and Δw2 do not have to be the same values as Δkr1 used in STEP14-16 and Δw1 used in STEP14-17, respectively, in the boarding action mode.

  Next, the control unit 50 determines the base body tilt angle target value θb_xy_obj by executing the same processing as STEP14-12 in STEP15-8. That is, θb_x_obj and θb_y_obj are determined by the equations 11x and 11y, respectively, according to the weighting factor Wth.

  Next, in STEP 15-9, the control unit 50 holds the next operation mode in the current operation mode (= dismounting action mode), and ends the process of FIG.

  The above is the details of the processing of STEP 15 in the boarding action mode.

  When the current operation mode determined in STEP 11 by the above processing is set to the getting-off action mode, basically, the second gain adjustment parameter Kr2 and the base body tilt angle target value θb_xy_obj are as follows. Is determined.

  That is, after the start of the dismounting action mode, when the occupant keeps both feet on the steps 3R and 3L, the target value Kr2aim of the second gain adjustment parameter Kr2 is set to “0” and the weight coefficient Wth. Is set to “0”.

  In this situation, Kr2 is basically held at “0”. Therefore, the i-th gain coefficients Ki_x and Ki_y (i = 1, 2, 3) determined by the expressions 09x and 09y, respectively, are the same values as in the boarding mode (Gi_x_ boarding, Gi_y_ boarding). It becomes.

  In this situation, Wth is basically held at “0”. For this reason, the base body tilt angle target value θb_xy_obj determined by the equations 11x and 11y is basically the same value θb_xy_ boarding as in the boarding mode. Therefore, the control state of the vehicle 1 in this situation is substantially equivalent to the on-boarding mode.

  Next, when the occupant disengages one foot from step 3R or 3L to start the dismounting action, the target value Kr2aim of Kr2 is set to “1”. The value of Kr2 is determined so as to approach Kr2aim (= 1). Therefore, in this situation (single-legged period), the i-th gain coefficient Ki_x (i = 1, 2, 3) determined by the above-mentioned expression 09x gradually decreases in absolute value, while Gi_x_ dismounting action (this In this embodiment, it approaches (Gi_x_boarding action). Similarly, the i-th gain coefficient Ki_y (i = 1, 2, 3) determined by the expression 09y gradually decreases in absolute value, while Gi_y_ dismounting action (this is Gi_y in this embodiment). _Matches boarding behavior). In this case, the absolute values of Ki_x and Ki_y are kept smaller than those in the on-board mode.

  In this situation, the rate of change of Kr2 (the amount of change per control processing cycle), and thus the rate of change of each i-th gain coefficient Ki_x, Ki_y, is defined by the predetermined value Δkr2.

  In this situation (one-legged period), the Wth target value Wthaim is set to “+1” or “−1”. The value of Wth is determined so as to approach Wthim (“+1” or “−1”). For this reason, the base body tilt angle target value θb_x_obj in the direction around the Y axis determined by the expression 11x is determined so as to gradually approach θb_x_ boarding / alighting. Further, the base body tilt angle target value θb_y_obj in the direction around the X axis determined by the equation 11y is determined so as to gradually approach the + θb_y getting-on / off or the −θb_y getting-on / off. More specifically, when the occupant's right foot is on step 3R, θb_y_obj is set so as to approach the + θb_y getting on and off of the left side inclination, and when the occupant's left foot is on step 3L, the right side inclination Θb_y_obj is set so as to approach the getting-on / off of -θb_y. Note that the change speeds of θb_x_obj and θb_y_obj (change amounts per control processing cycle) are defined by the predetermined value Δw2.

  Supplementally, when θb_x_ boarding / exiting = θb_x_ boarding, θb_x_obj does not change and is kept while boarding θb_x_.

  Next, when the occupant removes one foot placed on step 3R or 3L from step 3R or 3L in order to complete the dismounting action, the current operation mode is forcibly changed to the independent mode, and the i-th gain coefficient Ki_x , Ki_y (i = 1, 2, 3) and the base body tilt angle target value θb_xy_obj are set to the same values as in the self-supporting mode. Then, the operation mode in the next control processing cycle is changed to the independent mode.

  In the present embodiment, in the getting-off action mode, for example, even when the boarding operation unit 58a of the boarding / alighting operation element 58 is turned on, processing corresponding thereto is not performed. For this reason, in this embodiment, in the mode for getting off, unless the occupant removes both feet from steps 3R and 3L and completes the substantial getting off action (unless the judgment result of STEP15-2 becomes affirmative). ), The operation mode in the next control processing cycle is not changed from the mode for getting off to the independent mode.

  Supplementally, during the dismounting action, the occupant basically grips at least one of the gripping portions 15R and 15L as in the boarding action.

  The above is the details of the processing of STEP4.

  Next, the operation of the vehicle 1 of this embodiment will be described.

  First, an operation when the operation mode of the vehicle 1 is the on-boarding mode or the independent mode will be described.

  Basically, in any of the operation modes of the boarding mode and the self-supporting mode, the posture of the base body 9 is basically a posture in which both of the base body tilt angle deviation measurement values θbe_x_s and θbe_y_s are “0” (hereinafter referred to as this posture). In other words, the position of the vehicle system center of gravity (vehicle / occupant overall center of gravity or vehicle single body center of gravity) is positioned almost directly above the ground contact surface of the wheel body 5. So that the virtual wheel rotation angular acceleration command ωdotw_xy_cmd as the operation amount (control input) is determined. More specifically, the virtual wheel rotation is performed so that the center-of-gravity speed estimated value Vb_xy_s as the estimated value of the moving speed of the vehicle system center-of-gravity point converges to the control target center-of-gravity speed Vb_xy_mdfd while keeping the attitude of the base body 9 in the basic attitude. An angular acceleration command ωdotw_xy_cmd is determined. The control target center-of-gravity velocity Vb_xy_mdfd is normally “0” as described above. In this case, the virtual wheel rotation angular acceleration command ωdotw_xy_cmd is determined so that the center of gravity of the vehicle system is substantially stationary while maintaining the posture of the base body 9 in the basic posture.

  Then, the respective rotational angular velocities of the electric motors 31R and 31L obtained by converting the virtual wheel rotational angular velocity command ωw_xy_cmd obtained by integrating the components of ωdotw_xy_cmd are determined as the speed commands ω_R_cmd and ω_L_cmd of the electric motors 31R and 31L. Further, the rotational speeds of the electric motors 31R and 31L are controlled according to the speed commands ω_R_cmd and ω_L_cmd. As a result, the moving speeds of the wheel body 5 in the X-axis direction and the Y-axis direction are controlled so as to coincide with the moving speed of the virtual wheel 62_x corresponding to ωw_x_cmd and the moving speed of the virtual wheel 62_y corresponding to ωw_y_cmd, respectively. The

  For this reason, for example, if the actual base body tilt angle θb_x shifts forward from the target value θb_x_obj in the direction around the Y axis, the wheel body 5 is adjusted to eliminate the shift (to converge θbe_x_s to “0”). Move forward. Similarly, when the actual θb_x shifts backward from the target value θb_x_obj, the wheel body 5 moves rearward in order to eliminate the shift (to converge θbe_x_s to “0”).

  Further, for example, when the actual base body tilt angle θb_y shifts to the right tilt side from the target value θb_y_obj in the direction around the X axis, the wheel body 5 faces right to eliminate the shift (to converge θbe_y_s to “0”). Move to. Similarly, when the actual θb_y shifts to the left tilt side from the target value θb_y_obj, the wheel body 5 moves to the left in order to eliminate the shift (to converge θbe_y_s to “0”).

  Further, when both the actual base body tilt angles θb_x and θb_y deviate from the target values θb_x_obj and θb_y_obj, respectively, in order to eliminate the shift operation of the wheel body 5 to eliminate the shift of θb_x and the shift of θb_y. And the horizontal movement of the wheel body 5 are combined, and the wheel body 5 moves in the X-axis direction and the Y-axis direction (direction inclined with respect to both the X-axis direction and the Y-axis direction). It becomes.

  Thus, when the base body 9 is tilted from the basic posture, the wheel body 5 moves toward the tilted side. Therefore, for example, when the occupant intentionally tilts the upper body in the on-boarding mode, the wheel body 5 moves to the tilted side.

  Note that when the posture of the base body 9 converges to the basic posture, the movement of the wheel body 5 is almost stopped. Further, for example, if the inclination angle θb_x in the direction around the Y axis of the base body 9 is maintained at a constant angle inclined from the basic posture, the moving speed of the wheel body 5 in the X axis direction is a constant moving speed ( The target center-of-gravity speed Vb_x_mdfd and the movement speed having a constant steady deviation are converged. The same applies to the case where the inclination angle θb_y of the base 9 in the direction around the X axis is maintained at a constant angle inclined from the basic posture.

  Further, for example, the tilt amount (base tilt angle deviation measurement values θbe_x_s, θbe_y_s) of the base body 9 from the basic posture becomes relatively large, and the wheel body 5 necessary for eliminating or maintaining the tilt amount is used. One or both of the moving speeds in the X-axis direction and the Y-axis direction (these moving speeds correspond to the center-of-gravity speed steady-state deviation predicted values Vb_x_prd and Vb_y_prd shown in FIG. 12), respectively, of the electric motors 31R and 31L. In a situation in which one or both rotational angular velocities deviate from the allowable range and the movement speed becomes excessive, the speed reverse to the movement speed of the wheel body 5 (specifically, Vw_x_lim2-Vb_x_prd And Vw_y_lim2-Vb_y_prd) are determined as control target center-of-gravity speeds Vb_x_mdfd and Vb_y_mdfd. Then, the operation amount components u3_x and u3_y among the operation amount components constituting the control input are determined so as to converge the center-of-gravity speed estimated values Vb_x_s and Vb_y_s to the control target center-of-gravity speeds Vb_x_mdfd and Vb_y_mdfd, respectively. For this reason, it is prevented that the inclination amount of the base body 9 from the basic posture becomes excessive, and consequently, the rotational angular velocity of one or both of the electric motors 31R and 31L is prevented from becoming too high.

  Further, in the gain adjusting unit 78, one or both of the center-of-gravity velocity estimated values Vb_x_s and Vb_y_s are increased, and as a result, it is necessary for eliminating the inclination of the base body 9 from the basic posture or maintaining the inclination amount. The moving speed of one or both of the X-axis direction and the Y-axis direction of the wheel body 5 may be an excessive moving speed that causes the rotational angular speed of one or both of the electric motors 31R and 31L to deviate from the allowable range. In some circumstances, as the deviation becomes more prominent (specifically, as the absolute values of Vover_x and Vover_y shown in FIG. 10 increase), one or both of the first gain adjustment parameters Kr1_x and Kr1_y are changed from “0” to “1”. "

  In this case, the absolute value of each i-th gain coefficient Ki_x (i = 1, 2, 3) calculated by the expression 09x increases as Kr_x approaches “1”. The same applies to each i-th gain coefficient Ki_y (i = 1, 2, 3) calculated by the expression 09y.

  As the absolute value of the gain coefficient increases, the sensitivity of the operation amount (virtual wheel rotation angular acceleration commands ωdotw_x_cmd, ωdotw_y_cmd) with respect to a change in the tilt of the base body 9 increases. Therefore, if the inclination amount of the base body 9 from the basic posture is increased, the moving speed of the wheel body 5 is controlled so as to quickly eliminate the inclination amount. Accordingly, it is strongly suppressed that the base body 9 is largely inclined from the basic posture, and consequently, the moving speed of one or both of the wheel body 5 in the X-axis direction and the Y-axis direction is the rotation of one or both of the electric motors 31R and 31L. It is possible to prevent an excessive movement speed that causes the angular speed to deviate from the allowable range.

  Next, the operation in the case where the operation mode of the vehicle 1 is the boarding action mode or the getting-off action mode will be described.

  In the boarding action mode and the getting-off action mode, basically, in the situation where the occupant puts only one foot on the step 3R or 3L, the i-th gain coefficients Ki_x, Ki_y (used in the expressions 07x, 07y) Each of i = 1, 2, 3) is set such that its absolute value is smaller than that in the on-board mode.

  In this situation, the virtual wheel rotation angular acceleration command ωdotw_xy_cmd, which is a control operation amount for controlling the moving operation of the wheel body 5 even if the actual inclination angle of the base body 9 and the footrest part 3 (carrying part) changes. The change of is small compared to the on-board mode. As a result, the sensitivity of the change in the movement acceleration of the wheel body 5 with respect to the change in the actual inclination angle of the base body 3 and the footrest portion 3 becomes smaller than that in the on-board mode. For this reason, even if the base body 9 and the footrest portion 3 are tilted from the basic posture, the wheel body 5 does not move or is hardly generated.

  Therefore, in the boarding action mode and the getting-off action mode, in the situation where the occupant puts only one foot on the step 3R or 3L, the wheel body 5 does not move or remains difficult to move, It becomes easy to incline the footrest part 3 to a posture suitable for boarding or getting off.

  In addition, in this embodiment, when the occupant puts one foot on the right step 3R, the base body tilt angle target value θb_y_obj is an angle at which the base body 9 tilts to the left side (in the boarding action mode, + θb_y_ boarding / exiting) In the action mode, θb_y_ is set to + θb_y_ an angle inclined toward the boarding / alighting side than during boarding. In other words, in this state, the base body tilt angle target value θb_y_obj is set to an angle such that the step 3R on the right side approaches the position immediately above the grounding portion of the wheel body 5 when viewed in the X-axis direction. Further, when the occupant puts one foot on the left step 3L, the base body tilt angle target value θb_y_obj is an angle at which the base body 9 tilts to the right side (−θb_y_ boarding / exiting in the boarding action mode, θb_y_ is an angle inclined to −θb_y_ boarding / exiting side rather than during boarding). In other words, in this state, the base body tilt angle target value θb_y_obj is set to an angle such that the left step 3L is closer to the position immediately above the grounding portion of the wheel body 5 when viewed in the X-axis direction. For this reason, it becomes easy to maintain the attitude | position of the base | substrate 9 and the footrest part 3 in the attitude | position suitable for boarding action or alighting action.

  As a result, it becomes easy to perform the boarding action or the getting-off action while maintaining the state where the wheel body 5 does not move or is difficult to move.

  Here, the correspondence between the vehicle 1 of the present embodiment and the present invention will be supplemented.

  In the present embodiment, the front-rear direction (X-axis direction) and the left-right direction (Y-axis direction) of the passenger boarding the vehicle 1 correspond to the first direction and the second direction in the present invention, respectively.

  And the movement operation part control means in this invention is implement | achieved by the process of FIG. 7 which the control unit 50 performs. The boarding action mode and the getting-off action mode correspond to the transition period mode in the present invention. Further, the on-boarding mode and the independent mode in the present embodiment correspond to the on-boarding mode and the non-boarding mode in the present invention.

  Further, the setting value θb_xy_ of the base body inclination angle for the in-boarding mode corresponds to the target inclination angle for in-board mode in the present invention, and the setting value θb_xy_ independence of the base body inclination angle for the self-standing mode is in the present invention. This corresponds to the target inclination angle for the non-boarding mode. Further, in the mode for boarding action, only one of the passenger's feet is placed on step 3R or 3L (in the situation where the processing of STEP 14-7 or 14-8 in FIG. 17 is executed), the processing of STEP 14-12 In the base body tilt angle target value θb_xy_obj determined by the above and the dismounting action mode, only one occupant's foot is placed on the step 3R or 3L (the processing of STEP15-4 or 15-5 in FIG. 19 is executed) In this situation, the base body tilt angle target value θb_xy_obj determined by the processing of STEP 15-6 corresponds to the transitional target tilt angle in the present invention.

  Further, the load sensors 54R and 54L correspond to the footrest detecting means in the present invention.

  Next, some modifications relating to the embodiment described above will be described.

  In the above embodiment, | Gi_x_boarding action | <| Gi_x_boarding A |, | Gi_y_boarding action | <| Gi_y_boarding A |, and in the boarding action mode and the getting-off action mode, the X axis Each i-th gain coefficient Ki_x (i = 1, 2, 3) related to the direction and each i-th gain coefficient Ki_y (i = 1, 2, 3) related to the Y-axis direction are both boarded in absolute value. Made smaller than mode.

  However, for example, for the Y-axis direction, | Gi_y_boarding action | <| Gi_y_during boarding A |, while for the X-axis direction, Gi_x_boarding action matches or substantially matches Ai during boarding. In the boarding action mode, each i-th gain coefficient Ki_x (i = 1, 2, 3) in the X-axis direction may match or substantially match the boarding mode. Similarly, with respect to the Y-axis direction, | Gi_y_getting-off action | <| Gi_y_during boarding A |, while with respect to the X-axis direction, Gi_x_getting-off action matches or substantially matches Gi_x_during boarding A, In the getting-off action mode, each i-th gain coefficient Ki_x (i = 1, 2, 3) in the X-axis direction may match or substantially match the boarding mode.

  That is, as in this embodiment, in the vehicle 1 that rides on the footrest portion 3 (steps 3R, 3L), in order to facilitate the boarding action and the getting-off action, in particular, the base body 9 and the footrest in the direction around the X axis. It is preferable that the portion 3 is easily tilted, and the tilt in the direction around the Y axis is generally approximately the same as the base body tilt angle target value θb_x_obj in the boarding mode. Therefore, as described above, in the boarding action mode or the getting-off action mode, each i-th gain coefficient Ki_x (i = 1, 2, 3) in the X-axis direction matches or substantially matches the in-boarding mode. May be.

  In the embodiment, in the boarding action mode and the getting-off action mode, the i-th gain coefficients Ki_x and Ki_y (i = 1, 2, 3) are both smaller in absolute value than in the boarding mode. For example, it may be as follows. That is, for example, in the boarding action mode or the getting-off action mode, with respect to the gain coefficient Ki_y (i = 1, 2, 3) in the Y-axis direction, the third gain coefficient K3_y matches or substantially matches the value in the boarding mode. The first gain coefficient K1_y and the second gain coefficient K2_y may be made to coincide with each other so that the absolute value thereof is smaller than that in the boarding mode. For example, K1_y and K2_y in the boarding action mode or the getting-off action mode may be set to “0” or a value close thereto. Setting the gain coefficient Ki_y (i = 1, 2, 3) in this manner means that in the boarding action mode, | G1_y_boarding action | <| G1_y_boarding A |, | G2_y_ This can be realized by setting the Gi_y_ boarding action so that the boarding action | <| G2_y_boarding A |, | G3_y_boarding action | ≈ | G3_y_boarding A |. Moreover, in the mode for getting off, the G1_y_ getting-off action in the embodiment may be set similarly to the Gi_y_ boarding action.

  In this way, in the boarding action mode or the getting-off action mode, the sensitivity of the change in the moving speed of the wheel body 5 to the change in the inclination angle around the X axis of the base body 9 and the footrest part 3 is reduced. Can do.

  Note that the sensitivity of the change in the moving speed of the wheel body 5 with respect to the change in the inclination angle around the X axis of the base 9 and the footrest 3 is basically the absolute value of the third gain coefficient K3_y. This can be realized by reducing the ratio of the absolute value of the first gain coefficient K1_y to | K1_x | / | K3_x |.

  Further, in the boarding action mode or the getting-off action mode, the gain coefficient Ki_x (i = 1, 2, 3) in the X-axis direction is set to the third gain coefficient K3_x in the on-board mode as described above. The first gain coefficient K1_x and the second gain coefficient K2_x may be set so that the absolute values thereof are smaller than in the boarding mode. By doing so, in the boarding action mode or the getting-off action mode, the sensitivity of the change in the moving speed of the wheel body 5 with respect to the change in the inclination angle around the Y axis of the base body 9 and the footrest part 3 is reduced. Can do.

  In the present invention, it is not essential that the value of the gain coefficient is different from the in-boarding mode in the boarding action mode and the unloading action mode as in the above embodiment. The value of the gain coefficient may be set to the same value as in the boarding mode.

  Moreover, instead of changing the value of the gain coefficient in the boarding action mode and the getting-off action mode as in the above-described embodiment, the following may be used. That is, in the boarding action mode or the getting-off action mode, in order to maintain the electric motors 31R and 31L in the rotation stopped state at least in a state where the occupant has only one foot on the step 3R or 3L, the wheel body The electric motors 31R and 31L may be controlled so that the motor 5 is held in the movement stopped state.

  Alternatively, for example, in the boarding action mode or the getting-off action mode, the permissible range of the rotational angular speeds of the electric motors 31R and 31L in the limit processing unit 100 in the gravity center speed limiting unit 76 is set to “0”, and the limit processing unit The output value of 100 may be held at “0”. In this case, in the boarding action mode or the getting-off action mode, the moving operation of the wheel body 5 is performed so that the center-of-gravity velocity estimated values Vb_x_s and Vb_y_s converge to “0” regardless of the base body inclination angle. Be controlled. Therefore, the moving speed of the wheel body 5 in the boarding action mode or the getting-off action mode can be converged to “0” so that the wheel body 5 does not move regardless of the base body inclination angle.

  In the embodiment, the virtual wheel rotation angular acceleration commands ωdotw_x_cmd and ωdotw_y_cmd are calculated as control operation amounts using the equations 07x and 07y. For example, the second term on the right side of the equations 07x and 07y is omitted. Ωdotw_x_cmd and ωdotw_y_cmd may be calculated by the above formula.

  Moreover, in the said embodiment, although the vehicle 1 of the structure shown in FIG.1 and FIG.2 was illustrated, the inverted pendulum type vehicle 1 in this invention is not restricted to the vehicle illustrated in this embodiment.

  Specifically, the wheel body 5 as the moving operation unit of the vehicle 1 according to the present embodiment has an integral structure. For example, the wheel body 5 has a structure as shown in FIG. May be. That is, a plurality of rollers are extrapolated on a rigid annular shaft body so that the shaft centers in the tangential direction of the shaft body, and the plurality of rollers are circumferentially arranged along the shaft body. You may comprise a wheel body by arranging in a direction.

  Further, the moving operation unit may have a crawler-like structure as described in FIG.

  Alternatively, for example, as described in FIG. 5 of Patent Document 2, FIG. 7 of Patent Document 3, or FIG. 1 of Patent Document 1, the moving operation unit is configured by a sphere, and the sphere is connected to an actuator device ( For example, the vehicle may be configured to be rotationally driven in the direction around the X axis and the direction around the Y axis by an actuator device having the wheel body 5).

  Thus, the present invention can be applied to an inverted pendulum type vehicle having various structures as seen in Patent Documents 1 to 3 and the like.

  Furthermore, the inverted pendulum type vehicle according to the present invention may include a plurality of moving operation units (for example, two in the left-right direction, two in the front-rear direction, or three or more).

  In the inverted pendulum type vehicle according to the present invention, it is not essential that the base body tilts together with the passenger's riding section. For example, in the case of having a plurality of moving operation units, the base body to which these moving operation units are assembled is prevented from tilting with respect to the floor surface, and the riding section is mounted to be tiltable with respect to the base body. Also good.

  DESCRIPTION OF SYMBOLS 1 ... Inverted pendulum type vehicle, 3 ... Foot rest part, 3R ... Step (right foot rest part), 3L ... Step (left foot rest part), 5 ... Wheel body (moving operation part), 7 ... Actuator device, 9 ... Base | substrate, 50... Control unit (moving operation unit control means), 54R, 54L... Load sensor (footrest detection means).

Claims (4)

  1. A moving operation unit movable in all directions including a first direction and a second direction orthogonal to each other on the floor surface, an actuator device for driving the moving operation unit, and the moving operation unit and the actuator device are assembled. And a footrest for an occupant that is assembled to the base body and is tiltable with respect to a vertical direction around two axes, an axis around the first direction and an axis around the second direction. And an inverted pendulum type vehicle configured to be able to ride on the footrest portion in an upright posture placed on the footrest portion so that an occupant arranges both feet in the left-right direction with a gap therebetween A device,
    As the operation mode of the vehicle for controlling the moving operation unit, a mode for boarding action which is a transient operation mode when the occupant tries to board the footrest unit, and the occupant from above the footrest unit A transitional mode consisting of at least one mode of a mode for getting off which is a transient operation mode when attempting to get off, and in each operation mode including the mode for transitional period, A moving operation unit control means for controlling the moving operation via the actuator device;
    A footrest detecting means for generating an output according to whether or not each foot of an occupant is placed on the footrest portion;
    The moving operation unit control means, wherein in the transition period for the mode, of the period from the start to the end of the transition period for the mode, the output of at least the footrest detecting means, of the legs of the occupant In a period including a one-leg rest period that is an output indicating that only one leg is placed on the footrest, the transitional target inclination angle of the footrest is determined according to the output of the footrest detection means. Controlling the movement operation of the movement operation unit so as to bring the actual inclination angle of the footrest part closer to the determined target inclination angle for the transition period,
    The target inclination angle for the transition period determined by the moving operation unit control means in at least the one leg rest period in the transition mode is such that the output of the foot rest detection means is such that only the right foot of the occupant is in the foot rest section. In the case of an output indicating that the footrest is placed, at least the horizontal distance between the right footrest portion of the footrest portion and the tilt center of the footrest portion is the right footrest portion of the footrest portion. It is an angle that is relatively smaller than the horizontal distance in a state where the left footrest part is parallel to the horizontal direction, and the output of the footrest detection means is that only the occupant's left foot is placed on the footrest part The horizontal distance between at least the left footrest portion of the footrest portion and the tilt center of the footrest portion is the right footrest portion and the left footrest portion of the footrest portion. In the state where the Control device of an inverted pendulum type vehicle which is a relatively small angle from the horizontal distance.
  2. A moving operation unit movable in all directions including a first direction and a second direction orthogonal to each other on the floor surface, an actuator device for driving the moving operation unit, and the moving operation unit and the actuator device are assembled. And a footrest for an occupant that is assembled to the base body and is tiltable with respect to a vertical direction around two axes, an axis around the first direction and an axis around the second direction. And an inverted pendulum type vehicle configured to be able to ride on the footrest portion in an upright position on the footrest portion so that an occupant places both feet in the left-right direction with a space therebetween A device,
    As the operation mode of the vehicle for controlling the moving operation unit, a mode for boarding action which is a transient operation mode when the occupant tries to board the footrest unit, and the occupant from above the footrest unit A transitional mode consisting of at least one mode of a mode for getting off which is a transient operation mode when attempting to get off, and in each operation mode including the mode for transitional period, A moving operation unit control means for controlling the moving operation via the actuator device;
    A footrest detecting means for generating an output according to whether or not each foot of an occupant is placed on the footrest portion;
    The moving operation unit control means, wherein in the transition period for the mode, at the start of the mode for the transition period
    In the period from the end to the end, at least the output of the footrest detection means includes a one footrest period in which only one foot of the occupant's feet is placed on the footrest portion. In the period, the transitional target inclination angle in which the parallel direction of the right footrest portion and the left footrest portion of the footrest portion is inclined from the horizontal direction is determined according to the output of the footrest detection means. , Controlling the movement operation of the movement operation unit so as to bring the actual inclination angle of the footrest portion closer to the determined transition period target inclination angle,
    The target inclination angle for the transition period determined by the moving operation unit control means in at least the one leg rest period in the transition mode is such that the output of the foot rest detection means is such that only the right foot of the occupant is in the foot rest section. In the case of an output indicating that the vehicle is placed, the right footrest is at an angle that is relatively higher than the left footrest, and only the occupant's left foot is placed on the footrest. In the case of an output indicating the above, the control device for an inverted pendulum type vehicle, characterized in that the left footrest is at an angle relatively higher than the right footrest.
  3. In the control apparatus for an inverted pendulum type vehicle according to claim 2,
    The operation mode includes the mode for boarding action, and an on-boarding mode that is an operation mode in a state in which an occupant is on the footrest,
    In the on-boarding mode, the movement operation unit control means is configured to set the foot to a target inclination angle for boarding at a predetermined value in which the parallel direction of at least the right foot rest portion and the left foot rest portion of the foot rest portion is a horizontal direction. The moving operation unit is controlled so as to bring the actual inclination angle of the mounting part closer, and in the riding action mode, the output of the footrest detection means is such that only one foot of the occupant is placed on the footrest part. The output indicating that the two feet of the occupant are changed to the output indicating that both feet of the occupant are mounted on the footrest portion, the target inclination angle of the footrest portion is changed from the target inclination angle for the transition period during the boarding. Inverted pendulum type vehicle control comprising: determining to change to a target inclination angle for use, and controlling the moving operation unit to bring the actual inclination angle of the footrest portion closer to the determined target inclination angle apparatus.
  4. In the control apparatus for an inverted pendulum type vehicle according to claim 2 or 3,
    The operation mode includes the mode for getting off the vehicle and a non-boarding mode that is an operation mode in a state in which an occupant leaves the vehicle,
    In the non-boarding mode, the movement operation unit control means sets the footrest to a target inclination angle for non-boarding in which a parallel direction of at least the right footrest portion and the left footrest portion of the footrest portion is a horizontal direction. The moving operation unit is controlled so as to bring the actual inclination angle of the unit closer to each other, and in the dismounting action mode, the output of the footrest detection means is such that only one foot of the occupant is placed on the footrest portion. The output indicating that both feet of the occupant are not placed on the footrest, the target inclination angle of the footrest is changed from the target inclination angle for the transition period to the non-boarding state. Inverted pendulum type vehicle control comprising: determining to change to a target inclination angle for use, and controlling the moving operation unit to bring the actual inclination angle of the footrest portion closer to the determined target inclination angle apparatus
JP2009218313A 2009-09-23 2009-09-23 Control device for inverted pendulum type vehicle Active JP5355328B2 (en)

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JP5927031B2 (en) 2011-11-26 2016-05-25 本田技研工業株式会社 Inverted pendulum type vehicle
JP5921950B2 (en) 2012-05-14 2016-05-24 本田技研工業株式会社 Inverted pendulum type vehicle
JP5927032B2 (en) 2012-05-14 2016-05-25 本田技研工業株式会社 Inverted pendulum type vehicle
JP5808289B2 (en) 2012-05-14 2015-11-10 本田技研工業株式会社 inverted pendulum type vehicle
JP5922489B2 (en) * 2012-05-14 2016-05-24 本田技研工業株式会社 Inverted pendulum type vehicle
JP6081081B2 (en) * 2012-05-14 2017-02-15 本田技研工業株式会社 Inverted pendulum type vehicle
JP5959927B2 (en) 2012-05-14 2016-08-02 本田技研工業株式会社 Inverted pendulum type vehicle
JP5959928B2 (en) 2012-05-14 2016-08-02 本田技研工業株式会社 Inverted pendulum type vehicle
JP5916520B2 (en) * 2012-05-14 2016-05-11 本田技研工業株式会社 Inverted pendulum type vehicle
JP2014088054A (en) * 2012-10-29 2014-05-15 Toyota Motor Corp Inverted mobile entity and control method thereof
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