Patent application number | Description | Published |
20120150408 | CONTROL DEVICE OF OMNIDIRECTIONAL VEHICLE - An omnidirectional vehicle capable of enhancing straight-line stability is provided. | 06-14-2012 |
20120150410 | CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE - A control device of an inverted pendulum type vehicle capable of simplifying the steering of the vehicle, and of improving handling quality thereof, is provided. A control unit | 06-14-2012 |
20120158255 | CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE - In an inverted pendulum type vehicle having a traveling motion unit, when a component about an axis in a second direction and a component about an axis in a first direction from within a tilt error between an actual tilt angle and a desired tilt angle of the payload supporting part are defined as θbe_x_s and θbe_y_s, respectively, and when a component in the first direction and a component in the second direction from within a traveling velocity of a representative point of the vehicle in a stationary state in which θbe_x_s and θbe_y_s are retained constant are defined as θb_x_stb and θb_y_stb, respectively, a traveling motion of the traveling motion unit is controlled so that a ratio of a magnitude of θb_x_stb with respect to a magnitude of θbe_x_s and a ratio of a magnitude of θb_y_stb with respect to θbe_y_s becomes a ratio different from each other. | 06-21-2012 |
20120166049 | CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE - In an inverted pendulum type vehicle, a manipulated variable for control of a traveling motion unit is determined using adjustment parameters Ki_x, Ki_y (i=1, 2, 3) and θb_x_obj, θb_y_obj, which changes its value in accordance with whether it is in the loaded state in which an object to be transported is loaded on a loading part of the inverted pendulum type vehicle, or whether it is in the non-loaded state in which the object to be transported is not loaded thereon. The adjustment parameters are changed at a faster rate of change in the case of the transition from the loaded state to the non-loaded state, than in the case of the transition from the non-loaded state to the loaded state. The adjustment parameters for control are changed appropriately during transition while suppressing occurrence of slipping of the traveling motion unit. | 06-28-2012 |
20120166056 | CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE - An inverted pendulum type vehicle includes a loaded mode in which an object to be transported is loaded on a boarding unit, and a non-loaded state mode in which the object to be transported is not loaded thereon. When traveling velocities of a representative point of the vehicle in a steady-state, in which tilt errors θbe_x_s, θbe_y_s between actual tilt angles of a boarding unit and desired tilt angles thereof are maintained, constant are Vb_x_stb, Vb_y_stb, a traveling motion of a traveling motion unit is controlled such that at least a ratio of a magnitude of Vb_x_stb with respect to a magnitude of θbe_x_s becomes a smaller ratio in the non-loaded state mode than in the loaded state mode. Such inverted pendulum type vehicle is difficult to move in the non-loaded state mode, and is easy to move in the loaded mode. | 06-28-2012 |
20120173041 | CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE - Provided is a control device of an inverted pendulum type vehicle capable of moving the vehicle toward a desired direction easily. In the inverted pendulum type vehicle | 07-05-2012 |
20120173042 | CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE - A control device of an inverted pendulum type vehicle capable of easily performing a circling movement of the vehicle, without requiring complex maneuvering operation. A control unit | 07-05-2012 |
20120173086 | CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE - A control device of an inverted pendulum type vehicle capable of controlling fluctuation of a traveling velocity of a vehicle according to operating state of the vehicle. A traveling motion unit controlling element | 07-05-2012 |
20120173088 | CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE - Provided is a controller for an inverted pendulum type vehicle capable of moving the vehicle smoothly. The inverted pendulum type vehicle | 07-05-2012 |
20120173106 | CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE - Provided is a controller of an inverted pendulum type vehicle capable of being moved smoothly by a guided subject as a support. In the inverted pendulum type vehicle | 07-05-2012 |
20120173108 | INVERTED PENDULUM TYPE VEHICLE - According to an inverted pendulum type vehicle | 07-05-2012 |
20120173109 | INVERTED PENDULUM TYPE VEHICLE - A desired travelling velocity of a representative point of a vehicle | 07-05-2012 |
20120173114 | CONTROL DEVICE OF INVERTED PENDULUM TYPE MOBILE APPARATUS - Provided is a control device of an inverted pendulum type mobile apparatus capable of support the body of a user on a base body with a foot of the user standing on the floor in a reclining state. If the reclining state where the user has the body supported by the base body with a foot thereof standing on the floor when the mobile apparatus | 07-05-2012 |
20120179352 | CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE - Provided is a control device of an inverted pendulum type vehicle capable of adjusting a deviation of a tilt angle of a base body from a desired tilt angle so as to maintain the vehicle in a normal state where the tilt angle matches the desired tilt angle and the vehicle is in halt. When an update condition for updating a tilt offset adjusting variable θb_xy_offset is satisfied (STEP | 07-12-2012 |
20130133968 | INVERTED PENDULUM TYPE VEHICLE - An inverted pendulum type vehicle having a tiltable rider mounting section includes a first travel operation unit and a second travel operation unit, which are disposed with an interval provided therebetween in the longitudinal direction and which are capable of traveling in all directions, and an operation device which outputs a turn command. In the case where the turn command is output from the operation device in a situation wherein at least the first travel operation unit is traveling in the longitudinal direction or at rest, the moving velocity of the ground contact point of the first travel operation unit and the moving velocity of the ground contact point of the second travel operation unit in the lateral direction of a rider are controlled to have velocities that are different from each other. | 05-30-2013 |
20130299253 | INVERTED PENDULUM TYPE VEHICLE - An inverted pendulum type vehicle includes a first control processor that adds up a basic velocity command in a longitudinal direction and a lateral direction based on an operation through a joystick and a desired center of gravity velocity addition amount in the longitudinal direction and the lateral direction based on the movement of the body weight of the rider, thereby determining a desired velocity. A longitudinal travel velocity command limiter sets a desired center of gravity velocity addition amount, which is based on the basic velocity command based on a longitudinal manipulated variable of the joystick and a center of gravity offset influence amount based on the movement of the body weight of the rider, to a smaller value as a basic turn angular velocity command value increases. | 11-14-2013 |
20130304316 | INVERTED PENDULUM TYPE VEHICLE - An inverted pendulum type vehicle prevents a travel operation unit from running at a high velocity when not in contact with the ground. A ground contact point velocity detector integrates a ground contact point horizontal acceleration calculated by a ground contact point horizontal acceleration calculator so as to calculate the acceleration at the ground contact point of a wheel. A determiner calculates a ground contact point velocity. The determiner sets a velocity threshold value on the basis of the velocity difference between the ground contact point velocity and a first desired velocity. If the first desired velocity reaches the velocity threshold value or more, then the determiner decides that the wheel of a first travel operation unit is idling and restricts the setting of the first desired velocity by a first control processor to the velocity threshold value or less. | 11-14-2013 |
20130304320 | INVERTED PENDULUM TYPE VEHICLE - An inverted pendulum type vehicle with a tiltable rider mounting section has a first travel operation unit and a second travel operation unit, which are disposed with an interval provided therebetween in the longitudinal direction and which are capable of traveling in all directions. In a situation wherein a predetermined representative point of the vehicle or the first travel operation unit is to be moved rightward or leftward, the traveling operations of the first travel operation unit and the second travel operation unit are controlled such that the travel velocity of the first travel operation unit and the travel velocity of the second travel operation unit in the lateral direction are different from each other. | 11-14-2013 |
20140067177 | INVERTED PENDULUM TYPE VEHICLE, AND CONTROL METHOD OF INVERTED PENDULUM TYPE VEHICLE - A controller | 03-06-2014 |