JP2013099972A - Inverted mobile, control method thereof, and program - Google Patents

Abstract

Even when sudden deceleration is performed, the safety is maintained with a limited driving force.
An inverted mobile object performs a desired traveling according to the inclination of a riding section on which a passenger rides while maintaining an inverted state. The inverted moving body includes a torque calculating means for calculating a driving torque for returning the inclined state where the riding section is inclined backward and decelerated to a horizontal inverted stable state, and the inclined state where the riding section is inclined backward and decelerated. And determining means for determining whether or not the driving torque calculated by the torque calculating means is in an unstable state where the driving torque is equal to or greater than a predetermined torque, and when the determining means determines that the driving torque is unstable, the wheel is stopped. Control means for performing control.
[Selection] Figure 2

Description

  The present invention relates to an inverted moving body that performs a desired traveling in accordance with the inclination of a riding section on which a passenger rides while maintaining an inverted state, a control method thereof, and a program.

  2. Description of the Related Art An inverted moving body is known that performs desired traveling such as acceleration / deceleration and stop according to the inclination of a riding section on which a passenger is boarded while maintaining an inverted state (see, for example, Patent Document 1). In such an inverted mobile body, for example, even when the passenger performs a sudden deceleration operation, it is required to stop or continue traveling safely.

JP 2011-131620 A

  By the way, the driving torque necessary to tilt the riding section backward and maintain the inverted state after deceleration requires a large output torque driving section because the rear inclination increases as the deceleration increases. If the output torque of the drive unit is insufficient, the horizontal tilting stable state cannot be restored from the rear tilt state, and the inversion control becomes impossible, resulting in a decrease in safety. In addition, in an inverted type moving body on which a person rides, since the posture differs depending on the deceleration operation of the passenger, it is difficult to estimate the magnitude of the deceleration. For this reason, for example, a drive unit having an excessive output torque is mounted, which is a factor in increasing the size, weight, and cost.

  The present invention has been made in order to solve such problems, and an inverted moving body capable of maintaining its safety with a limited driving force even when sudden deceleration is performed, and a control method and program thereof are provided. The main purpose is to provide.

One aspect of the present invention for achieving the above object is an inverted moving body that performs a desired traveling according to the inclination of a riding section on which a passenger is boarded while maintaining an inverted state, wherein the riding section is Torque calculating means for calculating a driving torque for returning the inclined state where the vehicle is inclined and decelerated to a horizontal inverted stable state, and the riding part is in an inclined state where the vehicle is inclined backward and decelerated, and is calculated by the torque calculating unit. Determining means for determining whether or not the driven torque is in an unstable state that is equal to or greater than a predetermined torque, and a control means for performing control to stop the wheel when the determining means determines that the unstable state is the unstable state; An inverted mobile body characterized by comprising:
In this one aspect, the moving speed is equal to or lower than a predetermined speed and the driving torque calculated by the torque calculating means is equal to or higher than a predetermined torque in the inclined state where the riding section is inclined backward and decelerated by the determining means. When it is determined that the state is unstable, the control unit may perform control to stop the wheel.
In this aspect, the control means may continue the inversion control for maintaining the inverted state when the drive torque calculated by the torque calculation means is less than a predetermined torque.
In this aspect, the gyro sensor that detects the inclination angular velocity of the riding section, the acceleration sensor that detects the acceleration of the riding section, and the rotation sensor that detects the rotation information of the wheel, the determination unit includes Whether or not the vehicle is in the unstable state based on the tilt angular velocity detected by the gyro sensor, the acceleration detected by the acceleration sensor, and the rotation information detected by the rotation sensor. You may judge.
On the other hand, one aspect of the present invention for achieving the above object is an inverted moving body that performs a desired traveling according to the inclination of the riding section on which the passenger is boarded while maintaining the inverted state. A posture detecting means for detecting the inclination angle of the vehicle part, and an instability state in which the riding part is inclined backward and decelerated, and the inclination angle detected by the posture detection means is a predetermined angle or more. Even if it is an inverted type moving body comprising: a determination unit that determines whether or not; and a control unit that performs control to stop a wheel when the determination unit determines that the state is unstable. Good.
Another aspect of the present invention for achieving the above object is a method for controlling an inverted moving body that performs a desired traveling according to the inclination of a riding section on which a passenger rides while maintaining an inverted state. Calculating a driving torque for returning the inclined state in which the riding section is inclined backward and decelerating to a horizontal inverted stable state; and wherein the riding section is in an inclined state in which the riding section is inclined backward and decelerated. A step of determining whether or not the driving torque is in an unstable state that is equal to or greater than a predetermined torque, and a step of performing control to stop the wheel when the driving torque is determined to be in the unstable state. Alternatively, the inverted moving body control method may be used.
In this one aspect, when it is determined that the instability state in which the riding section is tilted backward and decelerated and the moving speed is equal to or lower than a predetermined speed and the calculated driving torque is equal to or higher than the predetermined torque. Control for stopping the wheel may be performed.
Furthermore, one aspect of the present invention for achieving the above object is an inverted mobile program that performs a desired traveling according to the inclination of a riding section on which a passenger is boarded while maintaining an inverted state. A process for calculating a driving torque for returning the inclined state in which the riding portion is inclined backward and decelerated to a horizontal inverted stable state; and the inclined state in which the riding portion is inclined backward and decelerated, and the calculated Causing the computer to execute a process of determining whether or not the driving torque is in an unstable state that is equal to or greater than a predetermined torque, and a process of performing control to stop the wheel when the driving torque is determined to be in the unstable state. It may be a program of an inverted type moving body.

  According to the present invention, it is possible to provide an inverted moving body that can maintain its safety with a limited driving force even when sudden deceleration is performed, a control method thereof, and a program.

It is the schematic which shows the schematic structure of the inverted moving body which concerns on Embodiment 1 of this invention. It is a block diagram which shows the schematic structure of the inverted moving body which concerns on Embodiment 1 of this invention. It is a flowchart which shows the control processing flow of the inverted type mobile body which concerns on Embodiment 1 of this invention. (A) It is a figure which shows an example of the change of the moving speed when the inverted moving body decelerates rapidly. (B) It is a figure which shows an example of the change of the command torque value when the inverted moving body decelerates rapidly. It is a figure which shows the state which stops a driving wheel and a passenger gets off. It is a figure which shows the inversion control which returns a back inclination state to a horizontal inversion stable state. It is a flowchart which shows the control processing flow of the inverted mobile body which concerns on Embodiment 2 of this invention.

Embodiment 1 FIG.
Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic diagram showing a schematic configuration of an inverted moving body according to Embodiment 1 of the present invention. The inverted mobile body 1 according to the first embodiment is configured as an inverted two-wheeled vehicle that performs a desired traveling according to the inclination of the step (boarding section) 2 on which the passenger gets on while maintaining the inverted state, for example. Has been. For example, when the passenger tilts Step 2 forward, the inverted moving body 1 moves forward according to the forward tilt. Conversely, when the passenger tilts Step 2 backward, the inverted mobile body 1 decelerates or reverses in accordance with the tilt thereafter. Further, the passenger can adjust the magnitude of the acceleration / deceleration of the inverted moving body 1 by increasing the slope of step 2.

  The inverted mobile body 1 includes, for example, a mobile body 3, a step 2 that is provided on the upper surface of the mobile body 3, and a pair of drives that are rotatably provided on the left and right side surfaces of the mobile body 3. The vehicle includes a wheel 4 and an operation handle 5 that is provided on the mobile body 3 and is gripped by a passenger and can be operated in the front-rear direction and the left-right direction. Note that step 2 is provided integrally with the movable body main body 3, and the step 2 and the movable body main body 3 operate integrally. In addition, the configuration of the above-described inverted moving body 1 is an example, and the configuration is not limited thereto. For example, a configuration without the operation handle 5 may be used.

  FIG. 2 is a block diagram showing a schematic configuration of the inverted moving body according to the first embodiment. The inverted mobile body 1 according to the first embodiment includes a gyro sensor 11, an acceleration sensor 12, a rotation sensor 13, a posture calculation unit 14, an operation determination processing unit 15, an inverted control calculation unit 16, and a wheel stop command unit. 17 and a motor control unit 18, and a pair of motors 19.

  For example, the control device 6 is built in the mobile body 3 and includes a CPU (Central Processing Unit) that performs control processing, arithmetic processing, and the like, and a ROM (Read ROM) that stores a control program executed by the CPU, an arithmetic program, and the like. Only a microcomputer including a RAM (Random Access Memory) that temporarily stores processing data and the like is configured as hardware.

  The gyro sensor 11 is provided, for example, in the mobile body 3 or step 2 and detects the angular angular velocity of the step 2 and the mobile body 3. The gyro sensor 11 is connected to the attitude calculation unit 14, and the gyro sensor 11 outputs the detected step 2 and the tilt angular velocity of the moving body 3 to the attitude calculation unit 14.

  The acceleration sensor 12 is provided, for example, in the mobile body 2 or step 3 and detects the acceleration of the step 2 and the mobile body 3. A posture calculation unit 14 is connected to the acceleration sensor 12, and the acceleration sensor 12 outputs the detected step 2 and the acceleration of the moving body 3 to the posture calculation unit 14.

  The rotation sensor 13 is configured by, for example, an encoder, a resolver, and the like, provided on each drive wheel 4 and detects rotation information such as a rotation angle, a rotation angular velocity, and a rotation angular acceleration of each drive wheel 4. An operation determination processing unit 15 is connected to the rotation sensor 13, and the rotation sensor 13 outputs the detected rotation information to the operation determination processing unit 15.

  The posture calculation unit 14 is a specific example of posture detection means. Step 2 and the angular velocity of the moving body main body 3 output from the gyro sensor 11, step 2 and the acceleration of the moving body main body 3 output from the acceleration sensor 12, and , The attitude angle of step 2 and the mobile body 3 is calculated. The posture calculation unit 14 is connected to an inverted control calculation unit 16 and an operation determination processing unit 15, and the posture calculation unit 14 determines the calculated step 2 and the posture angle of the mobile body 3 from the inverted control calculation unit 16 and the operation determination. Output to the processing unit 15.

  The operation determination processing unit 15 is a specific example of a determination unit, and has a function of determining the operation of the inverted moving body 1. For example, the motion determination processing unit 15 performs the step based on the rotation information of each driving wheel 4 output from the rotation sensor 13 and the posture angle of the moving body 3 and the step 2 output from the posture calculation unit 14. It is determined that 2 is in a decelerating state where the vehicle is inclined and decelerated. Note that the operation determination processing unit 15 is one of the rotation information of each driving wheel 4 output from the rotation sensor 13 and the step 2 and the attitude angle of the moving body 3 output from the attitude calculation unit 14. It may be determined that the step 2 is in a deceleration state in which the vehicle is inclined and decelerated based only on the basis of the above.

  Further, the motion determination processing unit 15 performs a step based on the rotation information of each driving wheel 4 output from the rotation sensor 13 and the step 2 and the posture angle of the mobile body 3 output from the posture calculation unit 14. 2 is a deceleration state in which the vehicle is inclined and decelerated, and it is determined whether or not the torque command value from the inversion control calculation unit 16 is in an unstable state that is equal to or greater than a predetermined torque.

  For example, a maximum output torque that can be output by the motor 19 is set as the predetermined torque. Therefore, when the torque command value calculated by the inversion control calculation unit 16 is equal to or greater than the predetermined torque, the inversion control becomes unstable (incapable state) because it cannot subsequently return from the inclined state to the horizontal inversion stable state. The operation determination processing unit 15 determines whether or not the inverted moving body 1 is in such an unstable state. The motion determination processing unit 15 is connected to an inverted control calculation unit 16 and a wheel stop command unit 17.

  When it is determined that the inverted mobile body 1 is in the unstable state, the motion determination processing unit 15 outputs a stop signal to the inverted control calculation unit 16 and outputs an operation signal to the wheel stop command unit 17. To do.

  Further, the motion determination processing unit 15 performs a step based on the rotation information of each driving wheel 4 output from the rotation sensor 13 and the step 2 and the posture angle of the mobile body 3 output from the posture calculation unit 14. When the moving speed is equal to or lower than a predetermined speed in a deceleration state in which 2 is inclined and decelerated, and the torque command value from the inversion control calculation unit 16 is equal to or higher than the predetermined torque, it is determined that the state is unstable. preferable. Thus, as will be described later, it is confirmed that the moving speed has become a low speed equal to or lower than the predetermined speed, and the drive wheel 4 can be decelerated and stopped, and the passenger can safely get off the vehicle.

  The inverted control calculation unit 16 is a specific example of torque calculation means, and torque command values (an example of drive torque) for the motors 19 such that the inverted movable body 1 performs desired travel while maintaining the inverted state. Is calculated. The inverted control calculation unit 16 calculates a torque command value for maintaining the inverted state by, for example, multiplying a value based on the posture angle output from the posture calculation unit 14 by a predetermined control gain. A motor control unit 18 and an operation determination processing unit 15 are connected to the inverted control calculation unit 16, and the inverted control calculation unit 16 outputs the calculated torque command value to the motor control unit 18 and the operation determination processing unit 15. .

  In addition, when receiving the stop signal from the operation determination processing unit 15, the inverted control calculation unit 16 stops the calculation and output of the torque command value.

  The wheel stop command unit 17 is a specific example of the control means. Upon receiving an operation signal from the operation determination processing unit 15, the wheel stop command unit 17 generates a torque command value (= 0) that stops each drive wheel 4 and performs motor control. Output to the unit 18.

  The motor control unit 18 generates a control signal corresponding to the torque command value output from the inversion control calculation unit 16 or the wheel stop command unit 17 and outputs the control signal to each motor 19 via a drive circuit or the like. Thus, the torque command value output from the inversion control calculation unit 16 and the wheel stop command unit 17 to the motor control unit 18 is switched in accordance with the operation signal and the stop signal output from the operation determination processing unit 15.

  Each motor 19 is connected to the drive shaft of each drive wheel 4 via a speed reduction mechanism or the like, and independently rotates and drives each drive wheel 4 in accordance with a control signal output from the motor control unit 18. Thereby, the inverted mobile body 1 can perform desired traveling such as forward / backward movement, left / right turn, acceleration / deceleration, and stop while maintaining the inverted state.

  By the way, for example, even when the inverted moving body is largely tilted rearward and suddenly stopped, the tilted state is usually returned to the original horizontal inverted stable state. However, in the conventional inverted mobile body, when the motor torque for returning from the greatly inclined rearward tilted state to the horizontal inverted stable state is insufficient, the inverted control becomes unstable (impossible state), which is in terms of safety. There was a problem. On the other hand, if a high-power motor is mounted on an inverted moving body in order to solve the shortage of motor torque, problems such as an increase in size, weight, and cost will arise.

  Therefore, in the inverted moving body 1 according to the first embodiment, the moving speed is equal to or lower than the predetermined speed in the decelerating state where the step 2 is inclined backward and decelerated, and the inclined state is returned to the horizontal inverted stable state. When the drive torque for this becomes more than predetermined torque, control which stops each drive wheel 4 is performed.

  Thereby, even if the driving torque necessary for returning the tilted state to the horizontal inverted stable state becomes greater than or equal to the predetermined torque due to a sudden stop operation by the passenger, etc. By stopping the unstable inversion control and stopping the driving wheel 4 reliably, the passenger can get off safely and smoothly in an inclined state thereafter. In this manner, the limited driving force is effectively used to stop the driving wheel 4 even during sudden deceleration, and the passenger can get off safely and smoothly.

  Next, the control method of the inverted moving body 1 according to the first embodiment will be described in detail. FIG. 3 is a flowchart showing a control processing flow of the inverted moving body according to the first embodiment. Note that the following processing (step S102) to (step S105) is repeatedly executed at predetermined time intervals, for example.

  For example, the passenger greatly tilts the step 2 backward to decelerate the inverted moving body 1 (step S101) (FIG. 4 (1)).

  Based on the rotation information of each driving wheel 4 output from the rotation sensor 13 and the posture angle of the moving body 3 and the step 2 output from the posture calculation unit 14, the motion determination processing unit 15 It is determined whether or not | moving speed | is equal to or lower than a predetermined speed | α | in a deceleration state where the vehicle is inclined and decelerated (step S102).

  Next, when the motion determination processing unit 15 determines that | movement speed | is equal to or less than the predetermined speed | α | in the deceleration state in which step 2 is inclined and decelerates (YES in step S102) (FIG. 4 (2)) Then, it is determined whether or not | torque command value | from the inversion control calculation unit 16 is equal to or greater than a predetermined torque | β | (step S103). On the other hand, when it is determined that | movement speed | is not equal to or smaller than the predetermined speed | α | in the deceleration state in which step 2 is inclined and decelerated (NO in step S102), the operation determination processing unit 15 ends this control process.

  When the motion determination processing unit 15 determines that the | torque command value | from the inverted control calculation unit 16 is equal to or greater than the predetermined torque | β | (YES in step S103) (FIG. 4 (3)), the inverted moving body. 1 is determined to be in an unstable state, a stop signal is output to the inverted control calculation unit 16, and an operation signal is output to the wheel stop command unit 17. When the wheel stop command unit 17 receives the operation signal from the operation determination processing unit 15, the wheel stop command unit 17 generates a torque command value for stopping each drive wheel 4 and outputs the torque command value to the motor control unit 18. The motor control unit 18 controls each motor 19 to stop each drive wheel 4 (step S104). Thereby, unstable inversion control can be stopped reliably and the passenger can get off safely and smoothly (FIG. 5).

  On the other hand, when the operation determination processing unit 15 determines that the | torque command value | from the inversion control calculation unit 16 is not equal to or greater than the predetermined torque | β | (NO in step S103), the inversion control calculation unit 16 sets the inverted state. A torque command value for performing a desired travel while maintaining the torque is calculated, and the calculated torque command value is output to the motor control unit 18. The motor control unit 18 controls each motor 19 to perform the inversion control so as to return the rear tilt state to the horizontal inversion stable state (step S105) (FIG. 6). Thereby, the inverted mobile body 1 can continue the inversion control stably.

  As described above, in the inverted moving body 1 according to the first embodiment, the moving speed is equal to or lower than the predetermined speed in the decelerating state where the step 2 is inclined backward and decelerated, and the inclined state is returned to the horizontal inverted stable state. When the driving torque for the driving torque becomes equal to or greater than the predetermined torque, control for stopping the driving wheel 4 is performed. As a result, even when the step 2 is greatly inclined backward and the driving torque necessary for returning the inclined state to the horizontal inverted stable state is not more than the predetermined torque, the unstable inversion control is stopped, Thereafter, the driving wheel 4 is reliably stopped in the inclined state, so that the passenger can get off safely and smoothly. That is, safety can be maintained with a limited driving force even during sudden deceleration.

Embodiment 2. FIG.
In the embodiment of the present invention, the motion determination processing unit 15 is such that the moving speed is equal to or less than the predetermined speed α in the deceleration state where the step 2 is inclined backward and decelerated, and the | tilt angle | | You may determine that you are in an unstable state. The predetermined angle γ is set to, for example, the maximum inclination angle that can return the inclination state of step 2 and the movable body 3 to the horizontal inverted stable state by the maximum output of each motor 19.

  When the motion determination processing unit 15 determines that the inverted moving body 1 is in an unstable state, the motion determination processing unit 15 outputs a stop signal to the inverted control calculation unit 16 and outputs an operation signal to the wheel stop command unit 17. When the wheel stop command unit 17 receives the operation signal from the operation determination processing unit 15, the wheel stop command unit 17 stops each drive wheel 4.

  As a result, even when the rear inclination angle of step 2 becomes larger than a predetermined angle and the rear inclination is greatly increased, and it becomes impossible to return the inclination state to the horizontal inverted stable state, the driving wheel is reliably maintained in the inclined posture thereafter. By stopping 4, the passenger can get off safely and smoothly.

  FIG. 7 is a flowchart showing a control processing flow of the inverted moving body according to the second embodiment.

  For example, the occupant tilts Step 2 greatly backward to decelerate the inverted moving body 1 rapidly (Step S201).

  Based on the rotation information of each driving wheel 4 output from the rotation sensor 13 and the posture angle of the moving body 3 and the step 2 output from the posture calculation unit 14, the motion determination processing unit 15 It is determined whether or not | moving speed | is equal to or lower than a predetermined speed | α | in a deceleration state where the vehicle is inclined and decelerated (step S202).

  Next, when the motion determination processing unit 15 determines that | movement speed | is equal to or less than the predetermined speed | α | in the deceleration state in which step 2 is inclined and decelerates (YES in step S202), the | tilt angle in step 2 It is determined whether or not | is equal to or greater than a predetermined angle | γ | (step S203).

  When it is determined that the | tilt angle | is greater than or equal to the predetermined angle | γ | in Step 2 (YES in Step S203), the motion determination processing unit 15 determines that the inverted mobile body 1 is in an unstable state, and is inverted. A stop signal is output to the control calculation unit 16 and an operation signal is output to the wheel stop command unit 17. When the wheel stop command unit 17 receives the operation signal from the operation determination processing unit 15, the wheel stop command unit 17 generates a torque command value for stopping each drive wheel 4 and outputs the torque command value to the motor control unit 18. The motor control unit 18 controls each motor 19 to stop each drive wheel 4 (step S204). Thereby, unstable inversion control can be stopped reliably and the passenger can get off safely and smoothly.

  On the other hand, when the motion determination processing unit 15 determines that the | tilt angle | of step 2 is not equal to or greater than the predetermined angle | γ | (NO in step S203), the inverted control calculation unit 16 maintains a desired inverted state. The torque command value for running is continuously calculated, and the calculated torque command value is output to the motor control unit 18. The motor control unit 18 controls each motor 19 to perform the inversion control so as to return the inclined state to the horizontal inverted stable state (step S205).

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention. In the above-described embodiments, the present invention has been described as a hardware configuration, but the present invention is not limited to this. In the present invention, for example, the processing executed by the control device 6 can be realized by causing a CPU to execute a computer program.

  The program may be stored using various types of non-transitory computer readable media and supplied to a computer. Non-transitory computer readable media include various types of tangible storage media. Examples of non-transitory computer readable media are magnetic recording media (eg flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (eg magneto-optical disks), CD-ROM, CD-R, CD-R / W. Semiconductor memory (for example, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM).

  The program may also be supplied to the computer by various types of transitory computer readable media. Examples of transitory computer readable media include electrical signals, optical signals, and electromagnetic waves. The temporary computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire and an optical fiber, or a wireless communication path.

DESCRIPTION OF SYMBOLS 1 Inverted type mobile body 2 Step 3 Mobile body main body 4 Drive wheel 5 Operation handle 6 Control apparatus 11 Gyro sensor 12 Acceleration sensor 13 Rotation sensor 14 Attitude calculation part 15 Motion determination process part 16 Inverted control calculation part 17 Wheel stop command part 18 Motor Control unit 19 Motor

Claims (8)

An inverted moving body that performs a desired traveling according to the inclination of the riding section on which the passenger is boarded while maintaining the inverted state,
Torque calculating means for calculating a driving torque for returning the inclined state in which the riding section is inclined backward and decelerates to a horizontal inverted stable state;
Determining means for determining whether or not the riding section is in an inclined state where the vehicle is inclined backward and decelerated, and whether or not the driving torque calculated by the torque calculating means is in an unstable state;
Control means for performing control to stop the wheel when the determination means determines that the unstable state;
An inverted mobile body characterized by comprising: The inverted mobile body according to claim 1,
The determination means determines that the riding section is in an unstable state in which the moving speed is equal to or less than a predetermined speed and the driving torque calculated by the torque calculation means is equal to or greater than a predetermined torque in an inclined state where the riding section is inclined backward and decelerated. The control means performs a control to stop the wheel,
An inverted moving body characterized by that. The inverted mobile body according to claim 1 or 2,
The inverted moving body characterized in that the control means continues the inversion control for maintaining the inverted state when the drive torque calculated by the torque calculation means is less than a predetermined torque. The inverted mobile body according to any one of claims 1 to 3,
A gyro sensor for detecting an inclination angular velocity of the riding section;
An acceleration sensor for detecting acceleration of the riding section;
A rotation sensor for detecting rotation information of the wheel, and
The determination means is in the unstable state based on the tilt angular velocity detected by the gyro sensor, the acceleration detected by the acceleration sensor, and the rotation information detected by the rotation sensor. An inverted moving body characterized by determining whether or not. An inverted moving body that performs a desired traveling according to the inclination of the riding section on which the passenger is boarded while maintaining the inverted state,
Attitude detecting means for detecting an inclination angle of the riding section;
Determining means for determining whether or not the riding section is in an inclined state where the vehicle is inclined backward and decelerated, and whether the inclination angle detected by the posture detecting means is in an unstable state greater than or equal to a predetermined angle;
Control means for performing control to stop the wheel when the determination means determines that the unstable state;
An inverted mobile body characterized by comprising: A method for controlling an inverted mobile body that performs a desired traveling according to the inclination of a riding section on which a passenger is boarded while maintaining an inverted state,
Calculating a driving torque for returning the inclined state in which the riding section is inclined backward and decelerates to a horizontal inverted stable state;
Determining whether or not the riding section is in an inclined state in which the rear portion is inclined and decelerated, and the calculated driving torque is in an unstable state that is equal to or greater than a predetermined torque;
Performing a control to stop the wheel when it is determined as the unstable state;
A method for controlling an inverted mobile object, comprising: A method for controlling an inverted mobile object according to claim 6,
The wheel is stopped when it is determined that the traveling speed is equal to or lower than a predetermined speed and the calculated driving torque is equal to or higher than the predetermined torque in the inclined state where the riding section is inclined backward and decelerated. Do control,
A control method for an inverted moving body characterized by the above. A program of an inverted mobile body that performs a desired traveling according to the inclination of the riding section on which the passenger is boarded while maintaining the inverted state,
A process of calculating a driving torque for returning the inclined state in which the riding section is inclined backward and decelerates to a horizontal inverted stable state;
A process of determining whether or not the riding section is in an inclined state in which the vehicle is inclined backward and decelerated, and the calculated driving torque is in an unstable state that is equal to or greater than a predetermined torque;
When it is determined that the unstable state, processing to stop the wheel,
An inverted mobile program characterized by causing a computer to execute.

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