JP6172092B2 - Inverted two-wheeled mobile system and control method thereof - Google Patents

Description

  The present invention relates to an inverted two-wheeled moving body and system and a control method thereof.

  For example, Patent Document 1 discloses an inverted two-wheeled moving body that performs an inverted control based on its own posture information detected from a posture sensor and drives a wheel with a motor while maintaining its own posture. Such an inverted two-wheeled moving body is operated by tilting the vehicle body by moving the center of gravity of the passenger. Therefore, it can be used for training to improve or restore the physical function and balance function of the occupant, not just a moving means.

  The inverted two-wheeled mobile body disclosed in Patent Document 1 has a training mode in addition to the normal mode. Here, in patent document 1, in order to improve the effect of training, the control gain of the inverted control is reduced in the training mode, and the inverted two-wheeled mobile body is made easier to move than in the normal mode.

JP 2011-031669 A

  When the inverted two-wheeled moving body becomes easy to move, the output of the motor that drives the wheels increases. Of course, the motor output is limited. If the motor output required for maintaining the inverted state (that is, preventing overturning) exceeds the output limit, the inverted state may not be maintained. In addition, in the conventional inverted two-wheeled moving body as described in Patent Document 1, in order to maintain the inverted state as much as possible, the inverter is controlled with a sufficient margin with respect to the output limit of the motor. It was.

  The present invention has been made in view of the above, and an object of the present invention is to provide an inverted two-wheeled mobile system that can be controlled so that the motor output required to maintain the inverted state does not exceed the output limit. And

An inverted two-wheeled mobile system according to one aspect of the present invention is provided.
An inverted two-wheeled mobile body that drives a wheel by a motor while maintaining an inverted state by an inverted control;
An inverted two-wheeled mobile system comprising: the inverted two-wheeled mobile body or a suspension means for suspending a passenger so that the tension can be adjusted;
The inverted two-wheeled mobile body is
A control unit for controlling the driving of the motor;
A sensor for detecting a driving state of the motor,
The controller is
Based on the driving state, estimate the output required for the motor,
When the estimated output exceeds the output limit of the motor, the tension of the suspension means is increased.

  The inverted two-wheeled mobile system according to one aspect of the present invention estimates an output required for the motor based on a driving state of the motor, and the estimated output exceeds an output limit of the motor. Increase the tension of the suspension means. When the tension of the suspension means increases, the inverted two-wheeled moving body becomes difficult to move, so the motor output decreases. As a result, it is possible to prevent the motor output from exceeding the output limit, and to reliably prevent the overturn.

When the estimated output falls below a predetermined lower limit reference value, it is preferable to reduce the tension. The performance of the inverted two-wheeled mobile body can be effectively utilized by bringing the motor output close to the output limit.
Preferably, the battery further includes a battery that supplies a voltage to the motor and a storage unit that stores the output limit, and the output limit is updated according to a change in voltage supplied from the battery. . Even when the voltage of the battery is lowered and the output limit is lowered, the overturn can be reliably prevented.
Furthermore, it is preferable that the output is defined from rotation information and torque information of the motor, and the output limit is defined from rotation information and torque information of the motor.

An inverted two-wheeled mobile system control method according to one aspect of the present invention includes:
An inverted two-wheeled mobile body that drives a wheel by a motor while maintaining an inverted state by an inverted control;
A suspension means for suspending the inverted two-wheeled mobile body or a passenger so that the tension can be adjusted, and a control method for an inverted two-wheeled mobile system comprising:
Detecting a driving state of the motor;
Estimating the output required for the motor based on the detected driving state, and
When the estimated output exceeds the output limit of the motor, the tension of the suspension means is increased.

  In the control method of the inverted two-wheeled mobile system according to one aspect of the present invention, the output required for the motor is estimated based on the driving state of the motor, and the estimated output exceeds the output limit of the motor. If so, increase the tension of the suspension means. When the tension of the suspension means increases, the inverted two-wheeled moving body becomes difficult to move, so the motor output decreases. As a result, it is possible to prevent the motor output from exceeding the output limit, and to reliably prevent the overturn.

  When the estimated output falls below a predetermined lower limit reference value, it is preferable to reduce the tension. The performance of the inverted two-wheeled mobile body can be effectively utilized by bringing the motor output close to the output limit.

  According to the present invention, it is possible to provide an inverted two-wheeled mobile system that can be controlled so that the motor output required to maintain the inverted state does not exceed the output limit.

1 is a perspective view showing a schematic configuration of an inverted two-wheeled mobile system according to a first embodiment of the present invention. 1 is a block diagram showing a schematic system configuration of an inverted two-wheeled mobile system according to a first embodiment of the present invention. It is a block diagram which shows the schematic system configuration | structure of the control part which concerns on the 1st Embodiment of this invention. It is a graph which shows an example of the map information which shows the output limit of a motor. It is a flowchart of the control method of the inverted two-wheeled mobile body 10 which concerns on the 1st Embodiment of this invention. It is a graph which shows an example of the map information which concerns on the 2nd Embodiment of this invention. It is a flowchart of the control method of the inverted two-wheeled mobile body which concerns on the 2nd Embodiment of this invention.

  Hereinafter, specific embodiments to which the present invention is applied will be described in detail with reference to the drawings. However, the present invention is not limited to the following embodiment. In addition, for clarity of explanation, the following description and drawings are simplified as appropriate.

(First embodiment)
FIG. 1 is a perspective view showing a schematic configuration of an inverted two-wheeled mobile system according to a first embodiment of the present invention. The inverted two-wheeled mobile system according to the present embodiment includes an inverted two-wheeled mobile body 10 and a suspension means 20.

  The inverted two-wheeled mobile body 10 is a coaxial two-wheeled vehicle that can perform forward / backward, left / right turn, acceleration / deceleration, and the like according to movement of the center of gravity of the occupant while maintaining an inverted state by inversion control. The inverted two-wheeled mobile body 10 includes a vehicle main body 1, a pair of left and right wheels 2R and 2L rotatably connected to the vehicle main body 1, an operation handle 4 provided on the vehicle main body 1 so as to be operable, and a vehicle main body 1 Provided with a pair of left and right step portions 6R and 6L on which a passenger can board, and a suspension means 20.

  By tilting the operation handle 4 in the front-rear direction, the forward or backward operation of the inverted two-wheeled mobile body 10 is executed, and by tilting in the roll direction (left-right direction), the turning operation of the inverted two-wheeled mobile body 10 is performed. An operation unit to be executed.

  The vehicle body 1 supports the operation handle 4 so as to be rotatable in the roll direction. The pair of wheels 2R, 2L are coaxially arranged on both sides in the direction orthogonal to the traveling direction of the vehicle body 1 and are rotatably supported by the vehicle body 1.

  On the upper surface of the vehicle body 1, a pair of step portions 6 </ b> R and 6 </ b> L are provided on the left and right sides of the operation handle 4. Each step part 6R, 6L is a step in which a passenger gets on one foot.

  The vehicle body 1 includes a vehicle body upper member and a vehicle body lower member that are arranged vertically in parallel with each other, and a pair of side members that are arranged on the left and right in parallel with each other and are rotatably connected to the vehicle body upper member and the vehicle body lower member. And a parallel link mechanism. The above-described configuration of the inverted two-wheeled mobile body 10 is merely an example, and is not limited thereto. For example, a configuration without the operation handle 4 may be used, and the vehicle travels according to the center of gravity movement of the occupant while maintaining the inverted state. It can be applied to any moving body.

  The suspension means 20 is an auxiliary tool for preventing overturning, and can suspend the inverted two-wheeled mobile body 10 or a passenger so that the tension can be adjusted. In the example of FIG. 1, the suspension means 20 is pulled out from the upper part of the operation handle 4 of the inverted two-wheeled moving body 10 and is fixed to a ceiling or a wall. That is, the suspension means 20 suspends the inverted two-wheeled moving body 10. In the inverted two-wheel moving body 10, the tension of the suspension means 20 can be adjusted automatically or manually.

  When the tension of the suspension means 20 is increased, the operation handle 4 is not easily tilted, and the inverted two-wheeled moving body 10 is difficult to move, so that the motor output is suppressed. On the other hand, when the tension of the suspension means 20 is reduced, the operation handle 4 is easily tilted and the inverted two-wheeled moving body 10 is easily moved, so that the motor output is increased. The same applies to the case where a passenger is suspended. When the tension of the suspension means 20 increases, it becomes difficult to move the center of gravity, so the inverted two-wheeled moving body 10 becomes difficult to move, and the motor output is suppressed. On the other hand, when the tension of the suspension means 20 is reduced, the center of gravity is easily moved, so that the inverted two-wheeled moving body 10 is easily moved and the motor output is increased.

  FIG. 2 is a block diagram showing an example of a schematic system configuration of the inverted two-wheeled mobile system according to the first embodiment of the present invention. The inverted two-wheeled mobile system according to the first embodiment includes a pair of left and right wheel drive units 3R and 3L, a control unit 5, a pair of left and right step sensors 7R and 7L, an angle detection sensor 8, and a battery 9. A pair of left and right drive circuits 11R, 11L, a posture sensor unit 12, a pair of left and right rotation sensors 13R, 13L, and a suspension means 20 are provided.

  Each step sensor 7R, 7L is provided in each step part 6R, 6L, for example, and is composed of a weight sensor. Each of the step sensors 7R and 7L detects whether or not a passenger's foot is on each of the step units 6R and 6L using each weight sensor, and when the foot is on, the step detection signal is controlled by the control unit. 5 for each.

  Wheel drive units 3 </ b> R and 3 </ b> L are respectively attached to the side members of the vehicle body 1. Each wheel drive unit 3R, 3L can independently rotate each wheel 2R, 2L. Each wheel drive unit 3R, 3L is constituted by, for example, a wheel drive motor 31R, 31L, and reduction gears 32R, 32L connected to the rotation shafts of the wheel drive motors 31R, 31L so as to be able to transmit power. Can do. Each wheel drive motor 31R, 31L generates and outputs regenerative power when the inverted two-wheeled mobile body 10 is in a decelerating state (braking state). The regenerative power output by the wheel drive motors 31R and 31L is consumed by internal resistances provided in the wheel drive units 3R and 3L and the control unit 5.

  An angle detection sensor 8 for detecting an operation amount (rotation amount) of the operation handle 4 is attached to the vehicle body 1. As the angle detection sensor 8, for example, a potentiometer, a sensor having a variable capacitor structure, or the like can be applied.

  A battery 9 for supplying power to the wheel drive units 3R, 3L, the control unit 5, other electronic devices, electric devices, and the like is provided at the base of the operation handle 4. As the battery 9, for example, a lithium ion battery is used.

  A vehicle body upper member of the vehicle main body 1 includes a pair of drive circuits 11R and 11L that drive a pair of wheel drive units 3R and 3L. The vehicle body 1 has a vehicle body lower member that drives a posture sensor unit 12 that detects the posture of the vehicle main body 1, the operation handle 4, and the like and outputs detection signals thereof, and a pair of wheel drive units 3R and 3L. And a control unit 5 that outputs a torque command signal (a specific example of torque information) for control.

  The wheel drive units 3R and 3L are provided with rotation sensors 13R and 13L for detecting rotation information such as the rotation speed, rotation angular velocity, and rotation angle acceleration of the wheel drive motors 31R and 31L, respectively. Each rotation sensor 13R, 13L is a specific example of a means for detecting the rotation information, and outputs the detected rotation information of each wheel drive motor 31R, 31L to the control unit 5.

  The control unit 5 is based on a detection signal from the attitude sensor unit 12, a detection signal from the angle detection sensor 8, a foot detection signal from each step sensor 7R, 7L, rotation information from each rotation sensor 13R, 13L, and the like. Arithmetic processing is executed, and a necessary torque command signal is output to each wheel drive unit 3R, 3L via each drive circuit 11R, 11L. Further, the control unit 5 controls the wheel drive units 3R and 3L, so that the inverted two-wheeled mobile body 10 performs a desired traveling while maintaining the inverted state.

  The control unit 5 includes an arithmetic circuit 5a such as a CPU (Central Processing Unit) and a storage unit 5b such as a RAM (Random Access Memory) and a ROM (Read Only Memory) in which various control programs and data are stored. I have.

  A battery 9 and a pair of drive circuits 11R and 11L are connected to the controller 5. Each drive circuit 11R, 11L outputs a drive current corresponding to the torque command signal output from the control unit 5 to each wheel drive unit 3R, 3L. Each drive circuit 11R, 11L controls independently the rotation speed, rotation direction, etc. of each wheel 2R, 2L, and each wheel drive unit 3R, 3L is individually connected to these.

  The attitude sensor unit 12 detects inclination information such as an inclination angle, an inclination angular velocity, and an inclination angle acceleration of the vehicle body 1 when the inverted two-wheeled mobile body 10 is traveling. The attitude sensor unit 12 includes, for example, a gyro sensor and an acceleration sensor. When the passenger tilts the operation handle 4 forward or backward, the step portions 6R and 6L are tilted in the same direction. The posture sensor unit 12 detects tilt information corresponding to the tilt.

  The control unit 5 drives and controls the wheel drive units 3R and 3L so that the inverted two-wheeled moving body 10 moves in the tilt direction of the operation handle 4 in accordance with the tilt information detected by the attitude sensor unit 12. Thus, the passenger can move the inverted two-wheeled moving body 10 forward or backward by inclining the step portions 6R and 6L by moving the center of gravity.

  Due to the above characteristics, the inverted two-wheeled mobile body 10 is not a simple moving means, but can also be used for training to improve or restore the physical function and balance function of the passenger. For example, it is possible to perform training such as causing the vehicle main body 1 to automatically travel and moving the center of gravity of the passenger according to the automatic traveling. The inverted two-wheeled mobile body 10 according to the present embodiment has a training mode in which the occupant moves the center of gravity in accordance with the above-described automatic traveling, in addition to the normal mode in which normal traveling is performed.

  In the training mode, the control unit 5 executes the training program, controls the wheel drive units 3L and 3R, and causes the vehicle body 1 to automatically travel forward, backward, left, and right at a constant or random cycle. At this time, the occupant moves the center of gravity back and forth or left and right so that the vehicle main body 1 is stationary or within a certain range in accordance with the automatic traveling of the vehicle main body 1 by the control unit 5.

  Thereby, the passenger can perform training while having fun like a game, and can efficiently improve the body function and the balance function. For example, a person with a disability in the balance function can operate each part of the body such as an ankle and knee joints happily and happily to improve the disability and decline.

  The mode switching between the training mode and the normal mode is performed, for example, by operating a mode switch (not shown) provided on the operation handle 4. Furthermore, the structure which can perform mode switching by wireless or wired remote operation may be sufficient. Thereby, not only a passenger but a training supervisor etc. can switch modes easily.

  FIG. 3 is a block diagram showing a schematic system configuration of the control unit 5 according to the first embodiment of the present invention. As shown in FIG. 3, the control unit 5 according to the present embodiment includes a motor output estimation unit 51, an inversion control unit 52, and a tension adjustment unit 53 in addition to the storage unit 5b shown in FIG. . In FIG. 3, the arithmetic circuit 5a is omitted.

  The motor output estimation unit 51 estimates the motor output required for the wheel drive motor 31R based on the rotation information output from the rotation sensor 13R and the torque information for the wheel drive unit 3R generated by the inversion control unit 52. To do. At the same time, the motor output estimation unit 51 is requested by the wheel drive motor 31L based on the rotation information output from the rotation sensor 13L and the torque information for the wheel drive unit 3L generated by the inversion control unit 52. Is estimated.

  Furthermore, the motor output estimation unit 51 compares the estimated motor outputs of the wheel drive motors 31R and 31L with the map information stored in the storage unit 5b. Here, the motor output estimation unit 51 can know the output limits of the wheel drive motors 31R and 31L from the map information. Then, the motor output estimating unit 51 outputs a tension change signal to the tension adjusting unit 53 based on the comparison result between the estimated motor output and the output limit for each of the wheel drive motors 31R and 31L.

  The inversion control unit 52 generates torque information for the wheel drive units 3R and 3L in order to perform desired travel while maintaining the inverted state.

  The tension adjusting unit 53 changes the tension of the suspension unit 20 according to the tension change signal output from the motor output estimating unit 51. When the tension of the suspension means 20 is increased, the inverted two-wheeled moving body 10 becomes difficult to move, so that the motor output is suppressed. On the other hand, when the tension of the suspension means 20 becomes small, the inverted two-wheeled moving body 10 becomes easy to move, so that the motor output increases. As will be described in detail later, in the inverted two-wheeled mobile system according to the present embodiment, the tension of the suspension means 20 is automatically changed according to the motor output estimated by the motor output estimation unit 51.

  As a matter of course, the tension of the suspension means 20 can be changed according to the operation of the passenger or the training supervisor. Further, when changing the tension of the suspension means 20, the tension may be changed by changing the length of the suspension means 20. Specifically, the length of the suspension means 20 may be shortened in order to increase the tension of the suspension means 20. In order to reduce the tension of the suspension means 20, the length of the suspension means 20 may be increased.

  The operation of the motor output estimation unit 51 will be described more specifically. Here, FIG. 4 is a graph showing an example of map information indicating the output limit of the motor. The horizontal axis in FIG. 4 represents the motor rotation speed, and the vertical axis represents the motor torque. That is, the motor output is defined by the rotation speed and the torque. In FIG. 4, the output limit is indicated by a thick solid line.

  As shown in FIG. 4, at the output limit, the rotational speed and the torque are in an inversely proportional relationship. That is, when the rotational speed is high, the torque needs to be lowered, and when the torque is high, the rotational speed needs to be lowered. On the other hand, the output limit is set so that the torque does not exceed the predetermined upper limit value Tmax so that the rotational speed does not exceed the predetermined upper limit value Nmax.

  Since the output limit varies depending not only on the motor but also on the remaining amount of the battery, that is, the output voltage of the battery 9, the map information is preferably updated according to the output voltage of the battery 9. Thereby, even if it is a case where the voltage of the battery 9 falls and an output limit falls, it can prevent falling reliably.

  The motor output estimation unit 51 lapses time of coordinates (rotation speed, torque) in the map information shown in FIG. 4 based on the rotation speed output from the rotation sensor 13R and the torque command signal for the wheel drive unit 3R. The trajectory associated with is estimated. This locus corresponds to the motor output required for the wheel drive motor 31R. Then, the motor output estimation unit 51 determines whether or not the estimated trajectory is within the output limit. The motor output required for the wheel drive motor 31L is similarly determined.

  When the estimated motor output exceeds the output limit for at least one of the wheel drive motors 31R and 31L as in the estimated output A indicated by the broken line in FIG. 4, the motor output estimation unit 51 determines that the motor output is the output limit. The tension adjustment unit 53 is requested to increase the tension of the suspension means 20 so as not to exceed. When the tension of the suspending means 20 increases, the inverted two-wheeled moving body 10 becomes difficult to move, so that the motor output decreases as shown by the output A indicated by the solid line in FIG. Thus, in the inverted two-wheeled mobile body 10 according to the present embodiment, since the motor output is sequentially controlled so as not to exceed the output limit, the overturn can be reliably prevented.

  In addition, in the conventional inverted two-wheeled mobile body, a sufficient margin is taken with respect to the output limit of the motor in order to prevent overturning, and the performance of the inverted two-wheeled mobile body is effectively utilized. I couldn't. On the other hand, in the inverted two-wheeled mobile body 10 according to the present embodiment, the motor output can be brought close to the output limit as shown by the output A indicated by the solid line in FIG. That is, it is possible to effectively use the performance of the inverted two-wheeled mobile body 10 while maintaining the inverted state (preventing falling).

  Further, as in the case of the estimated output B indicated by the broken line in FIG. 4, when the estimated motor output is lower than the lower limit reference value sufficiently smaller than the output limit for both the wheel drive motors 31R and 31L, the motor output estimation unit 51 requests the tension adjusting unit 53 to reduce the tension of the suspension means 20 within a range where the motor output does not exceed the output limit. When the tension of the suspension means 20 is lowered, the inverted two-wheeled moving body 10 becomes easy to move, so that the motor output increases as shown by the output B shown by the solid line in FIG.

  Thus, in the inverted two-wheeled mobile body 10 according to the present embodiment, when the estimated motor output is too low compared to the output limit, the tension of the suspension means 20 is reduced and the motor output approaches the output limit. be able to. That is, it is possible to effectively use the performance of the inverted two-wheeled mobile body 10 while maintaining the inverted state (preventing falling).

  By the way, by estimating the motor output required for the wheel drive motors 31R and 31L, it is possible to simultaneously estimate the boarding state of the passenger. For example, if it is a training mode, a passenger's training improvement degree can be estimated. Specifically, if the estimated motor output exceeds the output limit, it is estimated that the passenger is out of balance and the degree of improvement in training is low. On the other hand, if the estimated motor output is less than the lower limit reference value, it can be estimated that the occupant is able to board while maintaining a balance, and the degree of improvement in training is increased. That is, in the inverted two-wheeled mobile body 10 according to the present embodiment, the tension of the suspension means 20 is automatically set to be high for a passenger whose training improvement level is low, and the suspension means is automatically set as the improvement level increases. It can be expected that the tension of 20 will be lowered.

  In the present embodiment, the rotation number of the wheel drive motors 31R and 31L is used as the rotation information. However, the present invention is not limited to this. For example, the rotational angular velocities of the wheel drive motors 31R and 31L may be used as the rotation information. Moreover, although the torque command signal output to each drive circuit 11R, 11L from the inversion control part 52 is used as torque information, it is not limited to this. For example, the drive current output from the drive circuits 11R and 11L to the wheel drive units 3R and 3L according to the torque command signal may be used as torque information. Furthermore, a torque sensor that detects a drive torque may be provided in each of the wheel drive motors 3R and 3L, and a torque value detected by the torque sensor may be used as torque information.

  Next, a method for controlling the inverted two-wheeled moving body 10 according to the present embodiment will be described with reference to FIGS. Here, FIG. 5 is a flowchart of the control method of the inverted two-wheeled moving body 10 according to the present embodiment. The main subject of control is the control unit 5 shown in FIG.

  First, as shown in FIG. 5, along with the start of control, an initial value of the tension of the suspension means 20 is set for the tension adjusting unit 53 of the control unit 5 shown in FIG. 3 (step ST1). The initial value of the tension of the suspension means 20 is stored in, for example, the storage unit 5b.

  Next, the rotational speed and torque of the wheel drive motors 31R and 31L are monitored (step ST2). Specifically, as shown in FIG. 3, rotation information is monitored by the rotation sensors 13R and 13L, and torque information for the wheel drive units 3R and 3L generated by the inversion control unit 52 is monitored.

  Next, based on the rotation information output from the rotation sensors 13R and 13L and the torque information for the wheel drive units 3R and 3L generated by the inversion control unit 52, the motor output estimation unit 51 uses the wheel drive motors 31R and 31L. The motor output required for each is estimated (step ST3).

  Next, the motor output estimation unit 51 determines whether or not the estimated motor outputs (estimated values) of the wheel drive motors 31R and 31L are equal to or less than the output limit (step ST4). When the estimated motor output exceeds the output limit in at least one of the wheel drive motors 31R and 31L (step ST4NO), the motor output estimation unit 51 causes the tension adjusting unit 53 to increase the tension of the suspension means 20. (Step ST5). Then, if control is continuing (step ST8 NO), it will return to step ST2 and control will be continued.

  In both the wheel drive motors 31R and 31L, when the estimated motor output is less than or equal to the output limit (YES in step ST4), the motor output estimation unit 51 uses the estimated motor outputs (estimated values) of the wheel drive motors 31R and 31L as the lower limit reference. It is determined whether or not the value is greater than or equal to the value (step ST6). In both the wheel drive motors 31R and 31L, when the estimated motor output is below the lower limit reference value (NO in step ST6), the motor output estimation unit 51 causes the tension adjusting unit 53 to reduce the tension of the suspension means 20. (Step ST7). Then, if control is continuing (step ST8 NO), it will return to step ST2 and control will be continued.

  In at least one of the wheel drive motors 31R and 31L, if the estimated motor output is greater than or equal to the lower limit reference value (YES in step ST6), if the control is continued (NO in step ST8), the process returns to step ST2 and the control is continued. . That is, when the estimated motor output is not less than the lower limit reference value and not more than the output limit, the tension of the suspension means 20 is not changed.

  As described above, in the inverted two-wheeled mobile body 10 according to the present embodiment, the required motor output is sequentially estimated from the rotation information and torque information of the motor, and when it is determined that the estimated motor output exceeds the output limit. Increases the tension of the suspension means 20. When the tension of the suspension means 20 increases, the inverted two-wheeled moving body 10 becomes difficult to move, and the motor output decreases. For this reason, it is possible to avoid the motor output from exceeding the output limit, and to prevent the motor from falling over.

  Furthermore, in the inverted two-wheeled mobile body 10 according to the present embodiment, the required motor output is sequentially estimated from the rotation information and torque information of the motor, and the estimated motor output falls below the lower limit reference value (compared to the output limit). If it is determined that the tension is too low, the tension of the suspension means 20 is reduced. Therefore, while maintaining the inverted state (preventing falling), the motor output can be brought close to the output limit and the performance of the inverted two-wheeled mobile body 10 can be used effectively.

(Second Embodiment)
An inverted two-wheeled moving body according to a second embodiment of the present invention will be described with reference to FIGS. FIG. 6 is a graph showing an example of map information according to the second embodiment of the present invention. FIG. 6 corresponds to FIG. 4 in the first embodiment of the present invention. FIG. 7 is a flowchart of the control method of the inverted two-wheeled mobile body according to the second embodiment of the present invention. FIG. 7 corresponds to FIG. 5 in the first embodiment.

  As shown in FIG. 6, in the map information according to the second embodiment, only the output limit is defined, and the lower limit reference value is not defined. Therefore, as shown in FIG. 7, the inverted two-wheel moving body control method according to the second embodiment has a configuration without steps ST6 and ST7 in the first embodiment. Since other configurations are the same as those of the inverted two-wheeled moving body according to the first embodiment, description thereof is omitted.

  Even in the inverted two-wheeled mobile body according to the second embodiment, the required motor output is sequentially estimated from the rotation information and torque information of the motor, and when it is determined that the estimated motor output exceeds the output limit, the suspension is suspended. The tension of the means 20 is increased. When the tension of the suspension means 20 increases, the inverted two-wheeled moving body 10 becomes difficult to move, and the motor output decreases. For this reason, it is possible to avoid the motor output from exceeding the output limit, and to prevent the motor from falling over. In addition, what is necessary is just to operate a passenger, a training supervisor, etc. in order to reduce the tension | tensile_strength of the suspension means 20. FIG.

Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.
For example, the process executed by the motor output estimation unit 51 can be realized by causing the CPU to execute a computer program.

DESCRIPTION OF SYMBOLS 1 Vehicle main body 2L, 2R Wheel 3L, 3R Wheel drive unit 4 Operation handle 5 Control part 5a Arithmetic circuit 5b Storage part 6L, 6R Step part 7L, 7R Step sensor 8 Angle detection sensor 9 Battery 10 Inverted two-wheeled mobile body 11L, 11R Drive circuit 12 Attitude sensor unit 13L, 13R Rotation sensor 20 Suspension means 31L, 31R Wheel drive motor 32L, 32R Reduction gear 51 Motor output estimation unit 52 Inverted control unit 53 Tension adjustment unit

Claims (6)

An inverted two-wheeled mobile body that drives a wheel by a motor while maintaining an inverted state by an inverted control;
An inverted two-wheeled mobile system comprising: the inverted two-wheeled mobile body or a suspension means for suspending a passenger so that the tension can be adjusted;
The inverted two-wheeled mobile body is
A control unit for controlling the driving of the motor;
A sensor for detecting a driving state of the motor,
The controller is
Based on the driving state, estimate the output required for the motor,
When the estimated output exceeds the output limit of the motor, the tension of the suspension means is increased.
Inverted two-wheeled mobile system. The controller is
If the estimated output falls below a predetermined lower limit reference value, the tension is reduced.
The inverted two-wheeled mobile system according to claim 1. A battery for supplying voltage to the motor;
A storage unit for storing the output limit;
The output limit is updated in response to a change in voltage supplied from the battery.
The inverted two-wheeled mobile system according to claim 1 or 2. The output is defined from rotation information and torque information of the motor,
The output limit is defined from rotation information and torque information of the motor;
The inverted two-wheeled mobile system as described in any one of Claims 1-3. An inverted two-wheeled mobile body that drives a wheel by a motor while maintaining an inverted state by an inverted control;
A suspension means for suspending the inverted two-wheeled mobile body or a passenger so that the tension can be adjusted, and a control method for an inverted two-wheeled mobile system comprising:
Detecting a driving state of the motor;
Estimating the output required for the motor based on the detected driving state, and
When the estimated output exceeds the output limit of the motor, the tension of the suspension means is increased.
A method for controlling an inverted two-wheeled mobile system. If the estimated output falls below a predetermined lower limit reference value, the tension is reduced.
The method of controlling an inverted two-wheeled mobile system according to claim 5.

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