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WO2008041732A8 - 傾斜角推定機構を有する移動体 - Google Patents

傾斜角推定機構を有する移動体

Info

Publication number
WO2008041732A8
WO2008041732A8 PCT/JP2007/069404 JP2007069404W WO2008041732A8 WO 2008041732 A8 WO2008041732 A8 WO 2008041732A8 JP 2007069404 W JP2007069404 W JP 2007069404W WO 2008041732 A8 WO2008041732 A8 WO 2008041732A8
Authority
WO
WIPO (PCT)
Prior art keywords
tilt angle
estimating
moving object
acceleration
estimating mechanism
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2007/069404
Other languages
English (en)
French (fr)
Other versions
WO2008041732A1 (ja
Inventor
Toshio Fuwa
Issei Nakashima
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Motor Corp
Original Assignee
Toyota Motor Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyota Motor Corp filed Critical Toyota Motor Corp
Priority to US12/297,323 priority Critical patent/US8000925B2/en
Priority to EP07829143.2A priority patent/EP2077432B1/en
Priority to CN2007800175536A priority patent/CN101443628B/zh
Publication of WO2008041732A1 publication Critical patent/WO2008041732A1/ja
Publication of WO2008041732A8 publication Critical patent/WO2008041732A8/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G01C9/02—Details
    • G01C9/06—Electric or photoelectric indication or reading means

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Gyroscopes (AREA)

Abstract

　高精度に車体傾斜角度を推定することが可能な傾斜角推定機構を有する移動体を提供すること。本発明にかかる移動体は、２軸方向の加速度を検出する加速度センサと、車体の角速度を検出するジャイロセンサと、車体の傾斜角を推定する傾斜角推定機構とを備えた移動体である。この傾斜角推定機構は、加速度センサの検出した加速度に基づいて加速度センサに応じた傾斜角を推定する手段と、前記ジャイロセンサの検出した角速度に基づいて第２の傾斜角を推定する手段と、加速度センサに基づく傾斜角と、ジャイロセンサに基づく傾斜角に基づいて、移動体の線形モデル式をオブザーバとして傾斜角を推定する手段を有している。
PCT/JP2007/069404 2006-10-05 2007-09-27 傾斜角推定機構を有する移動体 Ceased WO2008041732A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US12/297,323 US8000925B2 (en) 2006-10-05 2007-09-27 Moving body with tilt angle estimating mechanism
EP07829143.2A EP2077432B1 (en) 2006-10-05 2007-09-27 Moving object with tilt angle estimating mechanism
CN2007800175536A CN101443628B (zh) 2006-10-05 2007-09-27 具有倾斜角推定机构的移动体

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2006-273622 2006-10-05
JP2006273622A JP4281777B2 (ja) 2006-10-05 2006-10-05 傾斜角推定機構を有する移動体

Publications (2)

Publication Number Publication Date
WO2008041732A1 WO2008041732A1 (ja) 2008-04-10
WO2008041732A8 true WO2008041732A8 (ja) 2008-07-03

Family

ID=39268585

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2007/069404 Ceased WO2008041732A1 (ja) 2006-10-05 2007-09-27 傾斜角推定機構を有する移動体

Country Status (5)

Country Link
US (1) US8000925B2 (ja)
EP (1) EP2077432B1 (ja)
JP (1) JP4281777B2 (ja)
CN (1) CN101443628B (ja)
WO (1) WO2008041732A1 (ja)

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CN110514178A (zh) * 2019-09-03 2019-11-29 北京源清慧虹信息科技有限公司 基于单轴加速度传感器的倾角测量方法和装置

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CN102160008B (zh) * 2008-09-17 2014-04-30 株式会社村田制作所 防摔倒控制装置及防摔倒控制方法
JP5109990B2 (ja) * 2009-01-26 2012-12-26 株式会社エクォス・リサーチ 車両
JP5110009B2 (ja) * 2009-03-11 2012-12-26 株式会社エクォス・リサーチ 車両
US8589059B2 (en) 2009-01-26 2013-11-19 Equos Research Co., Ltd. Vehicle with inclination estimation
JP5352673B2 (ja) * 2009-09-18 2013-11-27 本田技研工業株式会社 倒立振子型移動体
JP5488095B2 (ja) * 2010-03-23 2014-05-14 トヨタ自動車株式会社 倒立型移動体及びその制御方法
US9218316B2 (en) 2011-01-05 2015-12-22 Sphero, Inc. Remotely controlling a self-propelled device in a virtualized environment
US9090214B2 (en) 2011-01-05 2015-07-28 Orbotix, Inc. Magnetically coupled accessory for a self-propelled device
EP2661311B8 (en) 2011-01-05 2019-12-11 Sphero, Inc. Self-propelled device with actively engaged drive system
US9429940B2 (en) 2011-01-05 2016-08-30 Sphero, Inc. Self propelled device with magnetic coupling
US10281915B2 (en) 2011-01-05 2019-05-07 Sphero, Inc. Multi-purposed self-propelled device
EP2666453B1 (en) * 2011-02-23 2016-08-03 Murata Manufacturing Co., Ltd. Walking frame
CN102174884B (zh) * 2011-02-28 2013-08-21 重庆华渝电气仪表总厂 定向陀螺测斜仪点测装置
US8548722B2 (en) * 2011-08-12 2013-10-01 Deere & Company Tilt sensor and method for determining the tilt of a vehicle
US9827487B2 (en) 2012-05-14 2017-11-28 Sphero, Inc. Interactive augmented reality using a self-propelled device
HK1207455A1 (en) 2012-05-14 2016-01-29 斯飞乐有限公司 Operating a computing device by detecting rounded objects in an image
US10056791B2 (en) * 2012-07-13 2018-08-21 Sphero, Inc. Self-optimizing power transfer
US9381967B2 (en) * 2012-10-16 2016-07-05 Toyota Jidosha Kabushiki Kaisha Inverted vehicle and its control method
JP5907037B2 (ja) * 2012-10-16 2016-04-20 株式会社豊田中央研究所 移動体
FR2999699B1 (fr) * 2012-12-19 2015-12-11 Commissariat Energie Atomique Procede de determination de l'inclinaison d'un objet
JP6123906B2 (ja) * 2013-10-10 2017-05-10 株式会社村田製作所 手押し車
US9829882B2 (en) 2013-12-20 2017-11-28 Sphero, Inc. Self-propelled device with center of mass drive system
JP5979322B2 (ja) * 2013-12-25 2016-08-24 株式会社村田製作所 手押し車
CN104296722B (zh) * 2014-01-07 2017-11-14 郑州宇通客车股份有限公司 车辆侧倾状态检测方法
JP5962689B2 (ja) * 2014-02-14 2016-08-03 トヨタ自動車株式会社 自律移動体、及びその故障判定方法
JP6187310B2 (ja) * 2014-02-24 2017-08-30 トヨタ自動車株式会社 倒立型移動体
KR20170070944A (ko) * 2015-12-14 2017-06-23 현대오트론 주식회사 가속도 센서 및 자이로 센서를 이용한 차량 피치각 검출 장치 및 그 방법
CN105509693B (zh) * 2015-12-31 2018-04-06 山东科技大学 一种移动式中部溜槽检测装置及其应用
US10551407B2 (en) * 2016-07-29 2020-02-04 Blackberry Limited Determining an open/close status of a barrier

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JP2653197B2 (ja) * 1989-12-18 1997-09-10 日産自動車株式会社 車両のローリング制御装置
JPH0797033B2 (ja) 1991-05-23 1995-10-18 日本航空電子工業株式会社 静電浮揚起動装置
US6581714B1 (en) * 1993-02-24 2003-06-24 Deka Products Limited Partnership Steering control of a personal transporter
US6678631B2 (en) * 1998-11-19 2004-01-13 Delphi Technologies, Inc. Vehicle attitude angle estimator and method
JP2002318274A (ja) * 2001-02-13 2002-10-31 Mazda Motor Corp 車体運動計測装置、車体運動計測方法及びその方法を記録した記録媒体
JP4346021B2 (ja) 2001-08-16 2009-10-14 独立行政法人理化学研究所 Ｖ−ｃａｄデータを用いたラピッドプロトタイピング方法と装置
EP2106886B1 (en) 2002-04-26 2011-03-23 Honda Giken Kogyo Kabushiki Kaisha Self-position estimating device for leg type movable robots
JP4138546B2 (ja) 2003-03-26 2008-08-27 トヨタ自動車株式会社 移動台車及び移動台車の制御方法
JP4145741B2 (ja) * 2003-07-03 2008-09-03 三菱電機株式会社 車両のロールオーバ判別装置および車両のロールオーバ判別方法
US7363993B2 (en) * 2003-11-04 2008-04-29 Toyota Jidosha Kabushiki Kaisha Traveling apparatus and method for controlling thereof
DE10360728A1 (de) * 2003-12-23 2005-07-21 Daimlerchrysler Ag Verfahren und Vorrichtung zur Bestimmung eines Fahrzeugzustandes
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JP4315918B2 (ja) * 2005-02-09 2009-08-19 株式会社クボタ 傾斜角度計測装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110514178A (zh) * 2019-09-03 2019-11-29 北京源清慧虹信息科技有限公司 基于单轴加速度传感器的倾角测量方法和装置
CN110514178B (zh) * 2019-09-03 2021-11-26 北京源清慧虹信息科技有限公司 基于单轴加速度传感器的倾角测量方法和装置

Also Published As

Publication number Publication date
JP2008089531A (ja) 2008-04-17
EP2077432A1 (en) 2009-07-08
CN101443628A (zh) 2009-05-27
EP2077432B1 (en) 2014-03-19
CN101443628B (zh) 2010-12-08
US20090138232A1 (en) 2009-05-28
EP2077432A4 (en) 2012-11-14
US8000925B2 (en) 2011-08-16
WO2008041732A1 (ja) 2008-04-10
JP4281777B2 (ja) 2009-06-17

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