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    • 4. 发明申请
    • INVERTED PENDULUM TYPE MOVING MECHANISM
    • 倒立型移动机构
    • US20100082204A1
    • 2010-04-01
    • US12570081
    • 2009-09-30
    • Daisuke KIKUCHISaku EgawaRyosuke Nakamura
    • Daisuke KIKUCHISaku EgawaRyosuke Nakamura
    • G06F19/00
    • B25J5/007
    • An inverted pendulum type moving mechanism, enabling to detect a single-wheel idling when it occurs therein, thereby to maintain a standing condition even in case where an idling maintenance time is long, comprises: left and right wheels; a moving mechanism having traveling motors, which rotationally drive those wheels; an upper body, which is supported on the moving mechanism; and a control apparatus, which controls the moving mechanism, wherein the control apparatus comprises an idling detector unit for the wheels and a traction return detector unit, and executes a double-wheels standing travel control when no idling is detected within the idling detector unit, or a loading-wheel standing control when the idling is detected within the idling detector unit, and further the control apparatus executes an idling wheel control is executed upon the idling wheel for urging traction return, and turns back to the loading-wheel standing control when no traction return is detected within the traction return detector unit, and returns to the double-wheels standing travel control when traction return is detected within the traction return detector unit, and thereby executing an idling treatment control.
    • 一种倒立摆式移动机构,能够在发生单轮怠速时检测单轮怠速,从而即使在怠速维护时间长的情况下也能够保持站立状态,包括:左右车轮; 具有行进马达的移动机构,其旋转地驱动这些轮子; 支撑在移动机构上的上身; 以及控制所述移动机构的控制装置,其中所述控制装置包括用于所述车轮的怠速检测器单元和牵引返回检测器单元,并且在所述怠速检测器单元内没有检测到怠速时执行双轮行走控制, 或者在怠速检测器单元内检测到怠速时的加载轮站立控制,并且进一步地,在空转轮上执行空转轮控制以促使牵引力返回,并且当返回到加载轮站立控制时, 在牵引返回检测器单元内没有检测到牵引返回,并且当在牵引返回检测器单元内检测到牵引返回时返回双轮驻车行程控制,从而执行空转处理控制。