WO2009028133A1 - 倒立二輪型搬送車及びその制御方法 - Google Patents

倒立二輪型搬送車及びその制御方法 Download PDF

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Publication number
WO2009028133A1
WO2009028133A1 PCT/JP2008/001993 JP2008001993W WO2009028133A1 WO 2009028133 A1 WO2009028133 A1 WO 2009028133A1 JP 2008001993 W JP2008001993 W JP 2008001993W WO 2009028133 A1 WO2009028133 A1 WO 2009028133A1
Authority
WO
WIPO (PCT)
Prior art keywords
inverted
moving mechanism
wheel type
type carrier
mechanism unit
Prior art date
Application number
PCT/JP2008/001993
Other languages
English (en)
French (fr)
Inventor
Toshio Inaji
Soichiro Fujioka
Yoshihiko Matsukawa
Original Assignee
Panasonic Corporation
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 Panasonic Corporation filed Critical Panasonic Corporation
Priority to US12/515,353 priority Critical patent/US20100057319A1/en
Priority to CN2008800011386A priority patent/CN101568465B/zh
Priority to JP2009529967A priority patent/JP5028488B2/ja
Publication of WO2009028133A1 publication Critical patent/WO2009028133A1/ja

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
    • 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
    • Y—GENERAL 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

　倒立二輪型搬送車は、荷台を有する機体４と、車輪１ａ，１ｂに支持された台車５と、機体４と台車５との相対位置を変位させる移動機構部７と、機体４の姿勢を検出する傾斜センサ６と、車輪１ａ，１ｂと移動機構部７とを駆動制御する制御部９とを備え、移動機構部７を前後に変位させることにより、走行経路の坂道や段差に対しても、機体４上部の搭乗座席８が常に水平となるように姿勢制御をすることができるので、荷崩れを防止したり、搭乗人に不安感を与えることなく、安定した走行を実現できる。
PCT/JP2008/001993 2007-08-28 2008-07-25 倒立二輪型搬送車及びその制御方法 WO2009028133A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US12/515,353 US20100057319A1 (en) 2007-08-28 2008-07-25 Inverted two-wheel guided vehicle and control method therefor
CN2008800011386A CN101568465B (zh) 2007-08-28 2008-07-25 倒立双轮式搬运车及其控制方法
JP2009529967A JP5028488B2 (ja) 2007-08-28 2008-07-25 倒立二輪型搬送車及びその制御方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-220563 2007-08-28
JP2007220563 2007-08-28

Publications (1)

Publication Number Publication Date
WO2009028133A1 true WO2009028133A1 (ja) 2009-03-05

Family

ID=40386876

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/001993 WO2009028133A1 (ja) 2007-08-28 2008-07-25 倒立二輪型搬送車及びその制御方法

Country Status (4)

Country Link
US (1) US20100057319A1 (ja)
JP (2) JP5028488B2 (ja)
CN (1) CN101568465B (ja)
WO (1) WO2009028133A1 (ja)

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JP2009073283A (ja) * 2007-09-19 2009-04-09 Equos Research Co Ltd 車両
JP2009073261A (ja) * 2007-09-19 2009-04-09 Equos Research Co Ltd 車両
JP2009083754A (ja) * 2007-10-02 2009-04-23 Equos Research Co Ltd 車両
JP2009201220A (ja) * 2008-02-20 2009-09-03 Equos Research Co Ltd 車両
JP2009196468A (ja) * 2008-02-20 2009-09-03 Equos Research Co Ltd 車両
WO2010053740A1 (en) * 2008-11-06 2010-05-14 Segway, Inc. Apparatus and method for control of a dynamically self-balancing vehicle
JP2012121571A (ja) * 2012-02-06 2012-06-28 Equos Research Co Ltd 車両
JP2012126257A (ja) * 2010-12-15 2012-07-05 Toyota Motor Corp 倒立型移動体及びその制御方法
JP2013521174A (ja) * 2010-02-26 2013-06-10 セグウェイ・インコーポレイテッド 車両を制御するための装置及び方法
CN107414823A (zh) * 2017-03-24 2017-12-01 深圳市拓灵者科技有限公司 根据力矩调整平衡的方法及装置
EP3547064A4 (en) * 2016-11-28 2020-07-29 Equos Research Co., Ltd. MOBILE BODY
WO2022185447A1 (ja) * 2021-03-03 2022-09-09 株式会社Fuji 移動体
WO2024009673A1 (ja) * 2022-07-06 2024-01-11 株式会社デンソー 車両走行装置、車両走行プログラム

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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
CN101821122A (zh) * 2007-12-27 2010-09-01 爱考斯研究株式会社 车辆
CN102574559B (zh) * 2009-09-18 2014-08-20 本田技研工业株式会社 倒立摆型移动体
US20110204592A1 (en) * 2010-02-17 2011-08-25 Johansen N Layne Mobility and Accessibility Device and Lift
KR101079755B1 (ko) * 2010-06-14 2011-11-03 김준형 핸즈프리형 전동스쿠터
JP5025836B2 (ja) * 2010-09-13 2012-09-12 パナソニック株式会社 搭乗型移動体及び搭乗型移動体の制御方法
WO2014029357A1 (zh) * 2012-08-23 2014-02-27 苏州宝时得电动工具有限公司 自动工作设备及其控制方法
JP6020328B2 (ja) * 2013-04-18 2016-11-02 トヨタ自動車株式会社 移動体制御装置、移動体制御方法、及び制御プログラム
CN103600795B (zh) * 2013-10-17 2015-10-28 上海交通大学 基于圆盘光栅的自平衡两轮车
US9809264B1 (en) * 2015-07-20 2017-11-07 The United States Of America, As Represented By The Secretary Of The Navy Track kit for two wheeled balancing ground vehicle
JP6164661B2 (ja) * 2015-10-29 2017-07-19 アールオービーオー３ カンパニーリミテッド 大腿部操向型セルフバランススクーター
DE102016110435B4 (de) * 2016-06-06 2020-01-16 Universität Kassel Einachsiges Fahrzeug, Steuereinrichtung und Verfahren zur Steuerung eines derartigen Fahrzeugs
US10173738B2 (en) 2016-10-18 2019-01-08 Piaggio Fast Forward, Inc. Vehicle having stabilization system
US10293676B2 (en) 2016-10-18 2019-05-21 Piaggio Fast Forward, Inc. Vehicle having non-axial drive
US11370497B2 (en) 2016-10-18 2022-06-28 Piaggio Fast Forward, Inc. Vehicle having non-axial drive and stabilization system
US10493617B1 (en) 2016-10-21 2019-12-03 X Development Llc Robot control
JP6832136B2 (ja) * 2016-11-28 2021-02-24 本田技研工業株式会社 倒立振子車両
IT201700114497A1 (it) 2017-10-11 2019-04-11 Piaggio Fast Forward Inc Veicolo a due ruote con sistema di stabilizzazione lineare
KR102002902B1 (ko) * 2017-10-13 2019-07-24 네이버랩스 주식회사 퍼스널 모빌리티
CN108001592A (zh) * 2017-12-15 2018-05-08 何国煜 一种平衡车控制系统
EP3517354B1 (en) * 2018-01-29 2020-07-08 Bayerische Motoren Werke Aktiengesellschaft A method and an apparatus for compensating acceleration forces of objects on a surface and a vehicle comprising the apparatus
US11112807B1 (en) 2018-05-01 2021-09-07 Piaggio Fast Forward, Inc. Method for determining self-driving vehicle behavior models, a self-driving vehicle, and a method of navigating a self-driving vehicle
KR102085137B1 (ko) * 2018-06-12 2020-03-05 네이버랩스 주식회사 스마트 캐스터, 및 스마트 캐스터를 포함하는 이송 장치의 추적 방법
JP7466557B2 (ja) * 2018-10-22 2024-04-12 ピアジオ ファスト フォワード インク シフトアセンブリおよびこれを備える移動キャリア
EP3699066A1 (de) * 2019-02-20 2020-08-26 Siemens Aktiengesellschaft Selbstbalancierendes fahrerloses transportfahrzeug
US11414000B2 (en) * 2019-06-11 2022-08-16 Liebherr Mining Equipment Newport News Co. Self-leveling single axle dump truck
CN112486167B (zh) * 2020-11-09 2024-05-31 北京爱笔科技有限公司 自主避障机器人、防倾倒移动平台及防倾倒控制方法
CN112947452A (zh) * 2021-02-24 2021-06-11 上海机电工程研究所 一种智能循迹机器人小车
CN114987667B (zh) * 2022-04-13 2024-08-30 谢高伟 一种运动平台和控制方法

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JP2007219986A (ja) * 2006-02-20 2007-08-30 Toyota Motor Corp 倒立移動装置及びその制御方法
CN102336242A (zh) * 2007-08-10 2012-02-01 爱考斯研究株式会社 车辆
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Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009073283A (ja) * 2007-09-19 2009-04-09 Equos Research Co Ltd 車両
JP2009073261A (ja) * 2007-09-19 2009-04-09 Equos Research Co Ltd 車両
JP2009083754A (ja) * 2007-10-02 2009-04-23 Equos Research Co Ltd 車両
JP2009201220A (ja) * 2008-02-20 2009-09-03 Equos Research Co Ltd 車両
JP2009196468A (ja) * 2008-02-20 2009-09-03 Equos Research Co Ltd 車両
US8467941B2 (en) 2008-11-06 2013-06-18 Segway, Inc. Apparatus and method for control of a vehicle
WO2010053740A1 (en) * 2008-11-06 2010-05-14 Segway, Inc. Apparatus and method for control of a dynamically self-balancing vehicle
JP2013521174A (ja) * 2010-02-26 2013-06-10 セグウェイ・インコーポレイテッド 車両を制御するための装置及び方法
JP2012126257A (ja) * 2010-12-15 2012-07-05 Toyota Motor Corp 倒立型移動体及びその制御方法
JP2012121571A (ja) * 2012-02-06 2012-06-28 Equos Research Co Ltd 車両
EP3547064A4 (en) * 2016-11-28 2020-07-29 Equos Research Co., Ltd. MOBILE BODY
CN107414823A (zh) * 2017-03-24 2017-12-01 深圳市拓灵者科技有限公司 根据力矩调整平衡的方法及装置
WO2022185447A1 (ja) * 2021-03-03 2022-09-09 株式会社Fuji 移動体
WO2024009673A1 (ja) * 2022-07-06 2024-01-11 株式会社デンソー 車両走行装置、車両走行プログラム

Also Published As

Publication number Publication date
JPWO2009028133A1 (ja) 2010-11-25
US20100057319A1 (en) 2010-03-04
CN101568465B (zh) 2011-05-11
JP5028488B2 (ja) 2012-09-19
JP5395157B2 (ja) 2014-01-22
JP2012096787A (ja) 2012-05-24
CN101568465A (zh) 2009-10-28

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