JP2015128928A - Inverted movable body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To change a control gain in response to a physique of an occupant and to make operability excellent.SOLUTION: An inverted movable body comprises: an operation handle installed upright on a movable body main body; inclination detection means detecting an inclination of the operation handle; driving means driving at least one drive vehicle provided to the movable body main body; control means controlling the driving means and performing inversion control for maintaining an inverted state on the basis of the inclination of the operation handle detected by the inclination detection means; and height detection means detecting a height of an operation section of the operation handle, while including: the movable body main body which an occupant boards; the operation section being held by the occupant and performing operation; and an adjustment section adjusting the height of the operation section. The control means changes a control gain determining driving torque of the driving means in response to the inclination of the operation handle on the basis of the height of the operation section of the operation handle detected by the height detection means.

Description

  The present invention relates to an inverted moving body that travels while maintaining an inverted state.

  2. Description of the Related Art An inverted moving body is known that travels while an occupant gets on and maintains an inverted state according to the inclination of an operation handle (see Patent Document 1).

JP 2013-126258 A

  By the way, the passenger performs the operation by holding the operation handle with the leg portion or the arm portion. The physiques of the passengers vary, and the amount of operation when operating the operation handle is different depending on the physique of each passenger, even when the same operation is performed. For example, the operation amount of the tall passenger is larger than the operation amount of the short passenger because the operation during the operation is large. Therefore, the operability may be lowered due to the difference in behavior of the inverted moving body caused by the difference in the physique of the passenger.

  The present invention has been made in view of such a problem, and a main object of the present invention is to provide an inverted moving body in which the control gain is changed according to the physique of the passenger and the operability is improved.

In order to achieve the above object, one aspect of the present invention includes a mobile body on which a passenger rides, an operation unit that the passenger holds and operates, and an adjustment unit that adjusts the height of the operation unit. And an operation handle erected on the movable body main body, an inclination detection means for detecting an inclination of the operation handle, a drive means for driving at least one drive wheel provided on the movable body main body, Based on the inclination of the operation handle detected by the inclination detection means, the control means for controlling the driving means to maintain the inverted state, and the height detection for detecting the height of the operation portion of the operation handle. And the control means controls the drive means according to the inclination of the operation handle based on the height of the operation portion of the operation handle detected by the height detection means. The drive of To change the control gain for determining the torque, it is inverted vehicle according to claim.
Thereby, the optimal inversion control gain is set based on the height of the operation part of the operation handle in accordance with each passenger's physique. Therefore, the control gain can be changed according to the physique of the passenger to maintain good operability.
In this aspect, the control means is a turn control gain that determines a drive torque of the drive means in the turn control based on the height of the operation portion of the operation handle detected by the height detection means, and an inversion control. You may change at least one among the inversion control gains which determine the drive torque of the said drive means. Thereby, based on the height of the operation part of the operation handle according to each passenger's physique, optimal turning control gain and inversion control gain can be set.
In this aspect, the control means decreases at least one of the turning control gain and the inverted control gain as the height of the operation portion of the operation handle detected by the height detection means increases. You may let them. Accordingly, it is possible to improve the reactivity of the inverted moving body operated by the low-height passenger while suppressing the reactivity of the inverted moving body operated by the tall passenger.
In this aspect, the control means calculates the rotational torque command value of the drive wheel by multiplying the inclination angle in the pitch direction of the operation handle detected by the inclination detection means by the inversion control gain, and The means may drive the drive wheel based on a rotational torque command value calculated by the control means. Thereby, a drive wheel can be driven using the inverted control gain according to a passenger's physique.
In this aspect, the control means multiplies the rotation angle of the operation handle detected by the inclination detection means by the turning control gain to determine the yaw angle command value for determining the yaw angle of the movable body. The drive means may drive the drive wheel based on the yaw angle command value calculated by the control means. Thereby, a drive wheel can be driven using the turning control gain according to a passenger's physique.
In this aspect, the control means drives the drive body so as to assist the pulling of the movable body by rotating the drive wheel in the tilt direction of the operation handle detected by the inversion control and the tilt detection means. The traction assist control for controlling the means may be switched and executed, and when the height of the operation portion of the operation handle reaches a predetermined height, the traction assist control may be switched to. Thereby, the user can tow the mobile body in an easy posture while receiving tow assistance by the tow assistance control.
In this aspect, the adjustment unit is erected on the movable body main body, the operation unit is provided on the adjustment unit so as to be swingable in a height direction, and the occupant can You may operate the said operation handle in the state which pinched | interposed the operation part.
In order to achieve the above object, one aspect of the present invention includes a mobile body on which a passenger rides, an operation unit that the passenger holds and operates, and an adjustment unit that adjusts the height of the operation unit. And an operating handle erected on the movable body main body, and a driving means for driving at least one drive wheel provided on the movable body main body, and in an inverted state according to the inclination of the operational handle. A method of controlling an inverted moving body that travels while maintaining, the step of detecting the height of the operation portion of the operation handle, and the operation based on the detected height of the operation portion of the operation handle An inverted moving body control method characterized by changing a control gain for determining a driving torque of the driving means in accordance with the inclination of the handle.

  ADVANTAGE OF THE INVENTION According to this invention, the inverted type mobile body which changed the control gain according to the passenger's physique and improved operativity can be provided.

It is a perspective view which shows schematic structure of the inverted moving body which concerns on Embodiment 1 of this invention. It is a figure which shows the height adjustment method of the operation part of an operation handle. It is a block diagram which shows the schematic system configuration | structure of the inverted moving body which concerns on Embodiment 1 of this invention. It is a figure which shows the height of the operation part of the operation handle in a passenger with high and low stature. It is a flowchart which shows the control processing flow of the control method which concerns on Embodiment 1 of this invention. It is a figure which shows towing of the mobile body main body in tow assist control. It is a figure which shows the structure which adjusts the height of an operation part using the expansion-contraction mechanism of the adjustment part of an operation handle. It is a figure which shows the structure which a passenger | crew hold | grips an operation handle and performs driving | running | working operation.

Embodiment 1
Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view 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, for example, an inverted two-wheeled vehicle that performs desired traveling while maintaining an inverted state according to the movement of the center of gravity of the passenger.

  The inverted mobile body 1 includes an operation handle 2 operated by a passenger, a mobile body body 3 connected to the operation handle 2 and on which the passenger rides, and a pair of left and right drives rotatably provided on both sides of the mobile body body 3. Wheels 4. The inverted movable body 1 rotates each drive wheel 4 according to the inclination of the operation handle 2 and the movable body main body 3 by the movement of the center of gravity of the occupant, and performs desired forward / backward movement, left / right turning, acceleration / deceleration, stop, and the like. It is possible to run.

  For example, the occupant can move the center of gravity forward and tilt the operation handle 2 and the moving body 3 forward so that the inverted moving body 1 can be advanced. Conversely, the passenger can move the center of gravity backward and tilt the operation handle 2 and the moving body 3 backward to move the inverted moving body 1 backward.

  The operation handle 2 is erected on the movable body 3. The operation handle 2 is held and operated by the leg by the passenger. The operation handle 2 includes an operation unit 21 that is held by both knees of the occupant and an adjustment unit 22 that adjusts the height from the moving body 3 to the operation unit 21.

  The adjustment unit 22 is erected on the movable body main body 3. The operation unit 21 is provided in the adjustment unit 22 so as to be movable in the height direction. For example, the adjusting unit 22 swings the operating unit 21 in the height direction by a tilt mechanism. The passenger can perform an appropriate traveling operation by adjusting the height of the operation unit 21 to the height of the knee through the adjustment unit 22 (FIG. 2). The passenger tilts the operation handle 2 by pressing it in the moving direction while sandwiching the operation portion 21 of the operation handle 2 between both knees. Thereby, the inverted mobile body 1 performs a desired traveling according to the inclination of the operation handle 2 and the mobile body 3 by the movement of the center of gravity of the passenger.

  FIG. 3 is a block diagram showing a schematic system configuration of the inverted moving body according to the first embodiment. The inverted moving body 1 according to the first embodiment includes an attitude sensor 5, a pair of rotation sensors 6, a pair of wheel drive units 7, a control device 8, and a position detection sensor 9.

  The posture sensor 5 is a specific example of the inclination detection means, and detects posture information such as the pitch angle, pitch angular velocity, pitch angular acceleration, roll angle, roll angular velocity, and roll angular acceleration of the operation handle 2 and the moving body 3. . The posture sensor 5 detects, for example, the pitch angle (inclination angle) of the operation handle 2 and the moving body 3 generated by the passenger moving the center of gravity back and forth, and the passenger moves the center of gravity left and right. It is possible to detect the roll angle (inclination angle) of the operation handle 2 and the movable body 3 generated by this.

  The posture sensor 5 is connected to the control device 8 and outputs the detected posture information of the operation handle 2 and the movable body 3 to the control device 8. Note that the attitude sensor 5 is constituted by, for example, a gyro sensor or an acceleration sensor. The pitch axis is an axis corresponding to the axle of the pair of drive wheels 4. The roll axis is an axis that passes through the center of the mobile body 3 and is parallel to the traveling direction of the inverted mobile body 1.

  The pair of rotation sensors 6 detect rotation information such as the rotation angle, rotation speed, and rotation acceleration of each drive wheel 4. Each rotation sensor 6 is connected to the control device 8, and outputs the detected rotation information of each drive wheel 4 to the control device 8.

  The pair of wheel drive units 7 is a specific example of drive means, and drives the inverted moving body 1 by driving each drive wheel 4. Each wheel drive unit 7 can be comprised by the reduction gear train etc. which were connected with the rotating shaft of the electric motor so that power transmission was possible, for example. Each wheel drive unit 7 is connected to the control device 8 via a drive circuit 10. Each wheel drive unit 7 drives each drive wheel 4 in response to a control signal from the control device 8.

  The control device 8 is a specific example of a control unit. For example, a CPU (Central Processing Unit) 8a that performs control processing, arithmetic processing, and the like, a ROM (Read ROM) that stores a control program executed by the CPU 8a, an arithmetic program, etc. Only a microcomputer including a memory (only memory) 8b, a RAM (random access memory) 8c for temporarily storing processing data, etc. is used as a hardware configuration.

  The control device 8 causes the inverted moving body 1 to perform desired traveling (forward, reverse, acceleration, deceleration, stop, left turn, right turn, etc.) while performing the inverted control to maintain the inverted state, for example. Next, each wheel drive unit 7 is controlled. The control device 8 also performs feedback control based on the attitude information of the operation handle 2 and the movable body 3 detected by the attitude sensor 5 and the rotation information of each drive wheel 4 detected by each rotation sensor 6. Well-known control such as robust control is performed.

  For example, the control device 8 controls each wheel drive unit 7 according to the pitch angle of the operation handle 2 and the mobile body 3 detected by the attitude sensor 5 when the occupant moves the center of gravity back and forth. Thus, the inverted movable body 1 is moved forward or backward. In addition, the control device 8 is inverted by controlling each wheel drive unit 7 according to the roll angle of the mobile body 3 detected by the attitude sensor 5 when the occupant moves the center of gravity to the left or right. The mold moving body 1 is turned left or right.

  For example, the control device 8 multiplies the pitch angle (inclination angle) of the operation handle 2 and the moving body 3 detected by the attitude sensor 5 by an inversion control gain that determines the driving torque of each wheel drive unit in the inversion control. Then, the rotational torque command value of each drive wheel 4 is calculated. And the control apparatus 8 controls each wheel drive unit 7 so that the rotational torque according to the calculated rotational torque command value will arise in each drive wheel 4. FIG.

  As a result, the control device 8 rotates each drive wheel 4 in the direction in which the operation handle 2 and the moving body 3 are inclined, and the vertical position of the center of gravity of the inverted moving body 1 passes through the axle of each drive wheel 4. Invert control is performed so that it returns to the line. Furthermore, the control device 8 maintains an inverted state in which the pitch angles of the operation handle 2 and the movable body 3 do not exceed a certain value by adding appropriate rotational torque to each drive wheel 4. Further, according to the posture information from the posture sensor 5, movement control of the inverted moving body 1 such as forward, reverse, stop, deceleration, acceleration, left turn, right turn, and the like is performed.

  With the configuration of the vehicle control as described above, the inverted mobile body 1 moves forward and backward, for example, when the occupant moves the center of gravity back and forth and tilts the mobile body 3 and the operation handle 2 back and forth. Can move left and right by moving the center of gravity to the left and right and tilting the movable body 3 and the operation handle 2 to the left and right.

  The position detection sensor 9 is a specific example of the height detection means, and detects the swing angle θ of the operation handle 2 with respect to the height direction of the operation unit 21. The position detection sensor 9 detects the height h of the operation portion 21 of the operation handle 2 based on the detected peristaltic angle θ (FIG. 2). The rider adjusts the swing angle θ of the operation portion 21 of the operation handle 2 in accordance with the height of his / her knee when riding on the step of the mobile body 3 (FIG. 4). The position detection sensor 9 detects the height h of the operation unit 21 of the operation handle 2 at this time. The position detection sensor 9 outputs the detected height h of the operation unit 21 of the operation handle 2 to the control device 8.

  By the way, the physique of passengers varies. For this reason, even when the same operation is performed, the amount of operation when the operation unit 21 of the operation handle 2 is operated differs depending on the physique of each passenger. For example, the operation amount of the tall passenger (inclination angle of the operation handle 2) is larger than the operation amount of the low-height passenger because the operation during the operation is large (FIG. 4).

  Conventionally, the operability may be lowered due to the difference in behavior of the inverted moving body caused by the difference in the physique of the passenger.

  In contrast, in the inverted moving body 1 according to the first embodiment, the control device 8 sets the inverted control gain based on the height h of the operation unit 21 of the operation handle 2 detected by the position detection sensor 9. change. Thereby, the optimal inversion control gain is set based on the height h of the operation part 21 of the operation handle 2 according to each passenger's physique. Therefore, the difference in behavior of the inverted mobile body 1 caused by the physique difference of the passenger can be suppressed, and the operability can be maintained well.

  For example, the control device 8 decreases the inverted control gain as the height h of the operation unit 21 of the operation handle 2 detected by the position detection sensor 9 increases. On the other hand, the control device 8 increases the inverted control gain as the height h of the operation portion 21 of the operation handle 2 detected by the position detection sensor 9 decreases. Note that the relationship between the height h of the operation portion 21 of the operation handle 2 and the inverted control gain is preset in the RAM 8c or the like as map information, for example.

  In the case of a tall passenger, the height of the operation portion 21 of the operation handle 2 is increased, and the amount of operation in the front-rear direction is larger than usual. On the other hand, the control device 8 decreases the inverted control gain as the height h of the operation unit 21 of the operation handle 2 detected by the position detection sensor 9 increases. The controller 8 multiplies the pitch angle of the moving body 3 larger than normal detected by the attitude sensor 5 by the reduced inversion control gain to calculate the rotational torque command value of each drive wheel 4, and It outputs to each wheel drive unit 7 via the circuit 10. By using a small inverted control gain corresponding to the height of the physique, it is possible to suppress the reaction operation of the inverted mobile body 1 and to suppress an excessive reaction operation with respect to the large operation amount. Thereby, operativity can be maintained favorable by suppressing the excessive reaction operation | movement in the inverted moving body 1 which a tall passenger operates.

  On the other hand, in the case of a passenger with a short stature, the height of the operation portion 21 of the operation handle 2 is lowered, and the operation amount in the front-rear direction is smaller than usual. On the other hand, the control device 8 increases the inverted control gain as the height of the operation portion 21 of the operation handle 2 detected by the position detection sensor 9 decreases. The control device 8 multiplies the pitch angle of the mobile body 3 smaller than normal detected by the attitude sensor 5 by the increased inversion control gain, calculates the rotational torque command value of each drive wheel 4, and drives each drive It outputs to each wheel drive unit 7 via the circuit 10. By using a large inverted control gain corresponding to the physique of a short stature, the reaction behavior of the inverted mobile body 1 can be increased, and the responsiveness to the small operation amount can be improved. Thereby, operativity can be favorably maintained by improving the reactivity of the inverted mobile body 1 which a passenger with a short stature operates.

Next, the control method of the inverted moving body according to the first embodiment will be described in detail. FIG. 5 is a flowchart showing a control processing flow of the control method according to the first embodiment.
The position detection sensor 9 detects the height h of the operation unit 21 of the operation handle 2 when adjusted to the height of the occupant's knee, and outputs the detected height h of the operation unit 21 to the control device 8. (Step S101). The control device 8 changes the inverted control gain based on the height h of the operation unit 21 of the operation handle 2 output from the position detection sensor 9 (step S102). The control device 8 multiplies the pitch angle of the mobile body 3 detected by the attitude sensor 5 by the changed inverted control gain to calculate the rotational torque command value of each drive wheel 4 (step S103). The control device 8 controls each wheel drive unit 7 so that the rotational torque corresponding to the calculated rotational torque command value is generated in each drive wheel 4 (step S104).

  As described above, in the inverted moving body 1 according to the first embodiment, the inverted control gain is changed based on the height h of the operation unit 21 of the operation handle 2 detected by the position detection sensor 9. Thereby, the optimal inversion control gain is set based on the height h of the operation part 21 of the operation handle 2 according to each passenger's physique. Therefore, the difference in behavior of the inverted moving body 1 during the inversion control caused by the physique difference of the passenger can be suppressed, and the operability can be maintained well. In other words, it is possible to maintain good operability by changing the inverted control gain according to the physique of the passenger.

Embodiment 2
In the inverted mobile body 1 according to the second embodiment of the present invention, the control device 8 switches between the inverted control according to the first embodiment and the traction assist control that assists the traction of the mobile body 3. It is characterized by doing. In the traction assist control, the control device 8 rotates each drive wheel 4 of the moving body 3 in the tilt direction of the operating handle 2 so that the user holds the grip portion 211 of the operating portion 21 of the operating handle 2 and moves the moving body. It assists towing when the body 3 is towed (FIG. 6). By giving the auxiliary torque to each drive wheel 4, the user can easily pull and carry the movable body 3.

  Conventionally, when the operation handle is short, the user needs to pull in a bent posture when pulling the moving body by gripping the operation portion of the operation handle. On the other hand, the control device 8 according to the second embodiment provides the traction assistance when the height h of the operation portion 21 of the operation handle 2 detected by the position detection sensor 9 reaches a predetermined height. Switch to control and execute. Thereby, when the user sets the operation portion 21 of the operation handle 2 to a predetermined height that facilitates gripping, the traction assist control can be executed with good timing and the traction assist can be performed. Therefore, the user can tow the movable body 3 in an easy posture while receiving tow assistance by the tow assistance control.

  The predetermined height is calculated in advance based on, for example, the user's physique data, the dimensions of the operation handle 2 and the movable body 3, and is stored in the RAM 8c or the like. In the second embodiment, since the other configuration is substantially the same as that of the first embodiment, the same parts are denoted by the same reference numerals and detailed description thereof is omitted.

  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 embodiment described above, the adjustment unit 22 of the operation handle 2 adjusts the height of the operation unit 21 by swinging the operation unit 21 in the height direction, but is not limited thereto. For example, the adjustment unit 23 may adjust the height of the operation unit 21 by using an expansion / contraction mechanism 231 that expands and contracts in the height direction (FIG. 7).

  In the above-described embodiment, the control device 8 changes the inverted control gain based on the height h of the operation unit 21 of the operation handle 2 detected by the position detection sensor 9, but is not limited thereto. The control device 8 may change at least one of the turning control gain and the inversion control gain based on the height h of the operation unit 21 of the operation handle 2 detected by the position detection sensor 9.

  Based on the height h of the operation portion 21 of the operation handle 2 detected by the position detection sensor 9, the control device 8 changes the turning control gain that determines the driving torque of each wheel drive unit 7 in the turning control. Thereby, the optimal turning control gain is set based on the height of the operation unit 21 of the operation handle 2 that matches the physique of each passenger. Therefore, the difference in behavior of the inverted mobile body 1 caused by the physique difference of the passenger can be suppressed, and the operability can be maintained well.

  For example, the control device 8 decreases the turning control gain as the height h of the operation unit 21 of the operation handle 2 detected by the position detection sensor 9 increases. On the other hand, the control device 8 increases the turning control gain as the height h of the operation portion 21 of the operation handle 2 detected by the position detection sensor 9 decreases.

  In the case of a tall passenger, the height h of the operation portion 21 of the operation handle 2 is increased, and the operation amount in the turning direction is larger than usual. On the other hand, the control device 8 decreases the turning control gain as the height h of the operation unit 21 of the operation handle 2 detected by the position detection sensor 9 increases. For example, the control device 8 multiplies the roll angle (operation amount) of the operation handle 2 larger than usual by the decreased turning control gain to obtain a yaw angle command value (command value for determining the yaw angle of the movable body 3). calculate. The control device 8 controls the drive torque of each wheel drive unit 7 based on the calculated yaw angle command value. By using a small turning control gain corresponding to the physique of the tall body, it is possible to suppress a reaction operation in the turning direction of the inverted mobile body 1 and to suppress an excessive reaction operation with respect to the operation amount in the large turning direction. Thereby, operativity can be favorably maintained by suppressing an excessive reaction operation in the inverted mobile body 1 operated by a tall passenger.

  On the other hand, in the case of a passenger with a short height, the height h of the operation portion 21 of the operation handle 2 is reduced, and the operation amount in the turning direction is smaller than usual. On the other hand, the control device 8 increases the turning control gain as the height h of the operation portion 21 of the operation handle 2 detected by the position detection sensor 9 decreases. For example, the control device 8 calculates the yaw angle command value by multiplying the roll angle (operation amount) of the operation handle 2 smaller than usual by the increased turning control gain. The control device 8 controls the drive torque of each wheel drive unit 7 based on the calculated yaw angle command value. By using a large turning control gain corresponding to the physique of a short stature, the reaction behavior of the inverted mobile body 1 can be increased, and the responsiveness to the operation amount in the small turning direction can be improved. Thereby, operativity can be favorably maintained by improving the reactivity of the inverted mobile body 1 which a passenger with a short stature operates.

  As described above, the optimum turning control gain is set based on the height h of the operation unit 21 of the operation handle 2 that matches the physique of each passenger. Therefore, the difference in behavior of the inverted moving body 1 during the turning control caused by the physique difference of the passenger can be suppressed, and the operability can be maintained well. That is, it is possible to maintain good operability by changing the turning control gain according to the physique of the passenger.

  The control device 8 may change the turning control gain and the inversion control gain based on the height h of the operation unit 21 of the operation handle 2 detected by the position detection sensor 9. Thereby, the operativity in a turning direction and the front-back direction can be maintained favorable.

  In the above embodiment, the operation portion 21 of the operation handle 2 is held by both legs, and the operation is performed. However, the passenger may hold the operation handle 12 and perform the traveling operation (FIG. 8). ). The operation handle 12 is provided with a telescopic mechanism 121 that expands and contracts in the height direction according to the height of the passenger.

  In the present invention, for example, the processing shown in FIG. 5 can be realized by causing the CPU 8a 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 include magnetic recording media (for example, flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (for example, magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / W and semiconductor memory (for example, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (random access memory)) are included.

  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 Operation handle, 3 Mobile body main body, 4 Drive wheel, 5 Attitude sensor, 6 Rotation sensor, 7 Wheel drive unit, 8 Control apparatus, 9 Position detection sensor

Claims (7)

A mobile body on which the passenger is boarded;
An operation unit that is held and operated by a passenger, an adjustment unit that adjusts the height of the operation unit, and an operation handle that is erected on the movable body body,
Inclination detecting means for detecting the inclination of the operation handle;
Drive means for driving at least one drive wheel provided in the mobile body;
Control means for controlling the drive means to maintain an inverted state based on the inclination of the operation handle detected by the inclination detection means;
Height detection means for detecting the height of the operation portion of the operation handle;
An inverted mobile body comprising
The control means changes a control gain for determining a driving torque of the driving means according to an inclination of the operation handle based on a height of an operation portion of the operation handle detected by the height detection means. Inverted type moving body. The inverted mobile body according to claim 1,
The control means includes a turning control gain that determines a driving torque of the driving means in turning control based on the height of the operating portion of the operation handle detected by the height detecting means, and driving of the driving means in inversion control. An inverted moving body characterized in that at least one of the inverted control gains for determining torque is changed. The inverted mobile body according to claim 2,
The control means decreases at least one of the turning control gain and the inverted control gain as the height of the operation portion of the operation handle detected by the height detection means increases. Inverted moving body. The inverted moving body according to claim 2 or 3,
The control means calculates a rotational torque command value of the drive wheel by multiplying the inclination angle in the pitch direction of the operation handle detected by the inclination detection means by the inversion control gain;
The inverted moving body characterized in that the driving means drives the driving wheel based on a rotational torque command value calculated by the control means. The inverted moving body according to claim 2 or 3,
The control means calculates a yaw angle command value for determining the yaw angle of the movable body by multiplying the turning angle of the operation handle detected by the inclination detecting means by the turning control gain.
The inverted moving body characterized in that the driving means drives the driving wheel based on a yaw angle command value calculated by the control means. The inverted mobile body according to any one of claims 1 to 5,
The control means includes
The inversion control and the traction assist control for controlling the drive means to assist the traction of the movable body by rotating the drive wheel in the tilt direction of the operation handle detected by the tilt detection means. Switch and execute,
An inverted moving body characterized in that it switches to the traction assist control when the height of the operation portion of the operation handle reaches a predetermined height. The inverted mobile body according to any one of claims 1 to 6,
The adjustment unit is erected on the movable body main body,
The operation part is provided in the adjustment part so as to be movable in a height direction,
The inverted moving body characterized in that the rider operates the operation handle in a state where the operation unit is sandwiched between both legs.

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