WO2008133001A1 - 倒立車輪型移動体、及びその制御方法 - Google Patents

倒立車輪型移動体、及びその制御方法 Download PDF

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Publication number
WO2008133001A1
WO2008133001A1 PCT/JP2008/056967 JP2008056967W WO2008133001A1 WO 2008133001 A1 WO2008133001 A1 WO 2008133001A1 JP 2008056967 W JP2008056967 W JP 2008056967W WO 2008133001 A1 WO2008133001 A1 WO 2008133001A1
Authority
WO
WIPO (PCT)
Prior art keywords
mobile body
wheel
controlling
arm
wheel type
Prior art date
Application number
PCT/JP2008/056967
Other languages
English (en)
French (fr)
Inventor
Toshio Fuwa
Original Assignee
Toyota Jidosha Kabushiki Kaisha
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyota Jidosha Kabushiki Kaisha filed Critical Toyota Jidosha Kabushiki Kaisha
Priority to CA2683638A priority Critical patent/CA2683638C/en
Priority to US12/597,004 priority patent/US8371410B2/en
Publication of WO2008133001A1 publication Critical patent/WO2008133001A1/ja

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

　本発明にかかる倒立車輪型移動体は、車輪を回転可能に支持する右車台１７、左車台１９と、右駆動輪１８、左駆動輪２０を回転駆動するモータ３４、３６と、右アーム１４及び左アーム１６を介して右車台１７、左車台１９に対して回動可能に支持された車体１２と、右アーム１４及び左アーム１６に設けられ、移動体１００の車高を変化させる下関節モータ６５、９５と、倒立車輪型移動体が異常状態となったときに出力されるフェール信号８８に基づいて、下関節モータ６５、９５を制御して、車高を下げる制御部８０とを、備えるものである。
PCT/JP2008/056967 2007-04-25 2008-04-09 倒立車輪型移動体、及びその制御方法 WO2008133001A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CA2683638A CA2683638C (en) 2007-04-25 2008-04-09 Inverted wheel type moving body and method of controlling the same
US12/597,004 US8371410B2 (en) 2007-04-25 2008-04-09 Inverted wheel type moving body and method of controlling the same

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-115150 2007-04-25
JP2007115150A JP4924179B2 (ja) 2007-04-25 2007-04-25 倒立車輪型移動体、及びその制御方法

Publications (1)

Publication Number Publication Date
WO2008133001A1 true WO2008133001A1 (ja) 2008-11-06

Family

ID=39925460

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/056967 WO2008133001A1 (ja) 2007-04-25 2008-04-09 倒立車輪型移動体、及びその制御方法

Country Status (4)

Country Link
US (1) US8371410B2 (ja)
JP (1) JP4924179B2 (ja)
CA (1) CA2683638C (ja)
WO (1) WO2008133001A1 (ja)

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WO2011108029A1 (ja) * 2010-03-05 2011-09-09 トヨタ自動車株式会社 倒立二輪装置、その制御方法及び制御プログラム
CN111169577A (zh) * 2016-01-27 2020-05-19 陈城 两轮电动平衡车

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JP4735598B2 (ja) * 2007-04-27 2011-07-27 トヨタ自動車株式会社 倒立車輪型移動体、及びその制御方法
WO2011033574A1 (ja) * 2009-09-18 2011-03-24 本田技研工業株式会社 倒立振子型移動体
JP5511523B2 (ja) * 2010-06-04 2014-06-04 地方独立行政法人東京都立産業技術研究センター 二脚型移動装置
JP5644821B2 (ja) * 2012-08-29 2014-12-24 トヨタ自動車株式会社 倒立二輪車及びその制御方法
ITBG20130021A1 (it) * 2013-08-09 2015-02-10 Supermarioway S R L Mezzo di locomozione elettrico
JP6768269B2 (ja) * 2015-07-31 2020-10-14 株式会社東芝 光電気化学反応装置
JP6768273B2 (ja) * 2015-09-04 2020-10-14 株式会社東芝 光電気化学反応装置
US10802495B2 (en) 2016-04-14 2020-10-13 Deka Products Limited Partnership User control device for a transporter
US10220843B2 (en) 2016-02-23 2019-03-05 Deka Products Limited Partnership Mobility device control system
US10926756B2 (en) 2016-02-23 2021-02-23 Deka Products Limited Partnership Mobility device
US10908045B2 (en) 2016-02-23 2021-02-02 Deka Products Limited Partnership Mobility device
US11399995B2 (en) 2016-02-23 2022-08-02 Deka Products Limited Partnership Mobility device
USD846452S1 (en) 2017-05-20 2019-04-23 Deka Products Limited Partnership Display housing
USD829612S1 (en) 2017-05-20 2018-10-02 Deka Products Limited Partnership Set of toggles
EP3488976A1 (de) * 2017-11-23 2019-05-29 HILTI Aktiengesellschaft Selbstausrichtende werkzeugführung
EP3488978A1 (de) 2017-11-23 2019-05-29 HILTI Aktiengesellschaft Selbstausrichtende werkzeugführung
EP3488975A1 (de) * 2017-11-23 2019-05-29 HILTI Aktiengesellschaft Selbstausrichtende werkzeugführung
EP3488977A1 (de) * 2017-11-23 2019-05-29 HILTI Aktiengesellschaft Selbstausrichtende werkzeugführung
EP3488974A1 (de) * 2017-11-23 2019-05-29 HILTI Aktiengesellschaft Selbstausrichtende werkzeugführung
CA3106189A1 (en) 2018-06-07 2019-12-12 Deka Products Limited Partnership System and method for distributed utility service execution
US11173079B2 (en) * 2018-09-17 2021-11-16 Toyota Motor North America, Inc. Modular power bases for wheelchairs
KR20210078498A (ko) * 2018-10-22 2021-06-28 피아지오 패스트 포워드 인코포레이티드 변위 장치 조립체와 이를 구비하는 모바일 캐리어
JP7009535B2 (ja) * 2020-03-16 2022-02-10 本田技研工業株式会社 乗り物及び乗り物の制御方法

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JP2000514680A (ja) * 1996-07-17 2000-11-07 デカ・プロダクツ・リミテッド・パートナーシップ 転倒防止機構
JP2006247802A (ja) * 2005-03-14 2006-09-21 Hitachi Ltd 移動ロボット

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JP4291822B2 (ja) * 2006-02-03 2009-07-08 トヨタ自動車株式会社 倒立車輪型の走行体
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JP4867823B2 (ja) * 2007-07-09 2012-02-01 トヨタ自動車株式会社 倒立車輪型移動体、及びその制御方法
JP4470988B2 (ja) * 2007-10-25 2010-06-02 トヨタ自動車株式会社 倒立車輪型移動体、及びその制御方法
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Publication number Priority date Publication date Assignee Title
JPH11500331A (ja) * 1995-02-03 1999-01-12 デカ・プロダクツ・リミテッド・パートナーシップ 輸送車両と方法
JP2000514680A (ja) * 1996-07-17 2000-11-07 デカ・プロダクツ・リミテッド・パートナーシップ 転倒防止機構
JP2006247802A (ja) * 2005-03-14 2006-09-21 Hitachi Ltd 移動ロボット

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011108029A1 (ja) * 2010-03-05 2011-09-09 トヨタ自動車株式会社 倒立二輪装置、その制御方法及び制御プログラム
JP5263387B2 (ja) * 2010-03-05 2013-08-14 トヨタ自動車株式会社 倒立二輪装置、その制御方法及び制御プログラム
US8666575B2 (en) 2010-03-05 2014-03-04 Toyota Jidosha Kabushiki Kaisha Inverted two-wheel apparatus, and control method and control program thereof
CN111169577A (zh) * 2016-01-27 2020-05-19 陈城 两轮电动平衡车
CN111169580A (zh) * 2016-01-27 2020-05-19 陈城 两轮电动平衡车
CN111169579A (zh) * 2016-01-27 2020-05-19 陈城 两轮电动平衡车
CN111169581A (zh) * 2016-01-27 2020-05-19 陈城 两轮电动平衡车

Also Published As

Publication number Publication date
US8371410B2 (en) 2013-02-12
CA2683638A1 (en) 2008-11-06
JP2008265697A (ja) 2008-11-06
CA2683638C (en) 2012-08-14
JP4924179B2 (ja) 2012-04-25
US20100174476A1 (en) 2010-07-08

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