Patent ID: 8463523
Filing Date: 2013-06-11
Classification: B60B,B60Y,B62J,B62K

Abstract:
1. A control device of an inverted pendulum type vehicle having a traveling motion unit capable of moving on a floor surface at least in a first direction, an actuator which drives the traveling motion unit, a base body on which the traveling motion unit and the actuator are mounted, and a loading part of an object to be transported mounted to the base body so as to be tillable at least with respect to a vertical direction about an axis in a second direction which is orthogonal to the first direction, comprising: a traveling motion unit controlling element which includes a loaded state mode and a non-loaded state mode that are operation modes of the vehicle for controlling the traveling motion unit, the loaded state mode being the operation mode in which the object to be transported is loaded on the loading part, and the non-loaded state mode being the operation mode in which the object to be transported is not loaded on the loading part, and the traveling motion unit controlling element controls the traveling motion of the traveling motion unit via the actuator, in each operation mode of the loaded state mode and the non-loaded state mode; wherein the traveling motion unit controlling element controls the traveling motion unit, by executing a control processing which is configured to make an actual traveling velocity of a predetermined representative point of the vehicle converge to a steady-state converging velocity which depends on a tilt error, the tilt error being an error between an actual tilt angle of the loading part and a desired tilt angle of a predetermined value for each operation mode, at least in a steady state in which the tilt error is maintained constant, and at the same time to make the steady-state converging velocity in the first direction change monotonously in accordance with the tilt error about an axis in the second direction, and also to make a ratio of a magnitude of the steady-state converging velocity in the first direction with respect to a magnitude of the tilt error about the axis in the second direction relatively smaller in the non-loaded state mode than in the loaded state mode.