Title:
INVERTED TWO-WHEEL TYPE MOVING BODY
Document Type and Number:
Japanese Patent JP2016088307
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To provide an inverted two-wheel type moving body which can suppress a turn when the moving body turns by a reason that a wheel at a single side cannot move.SOLUTION: An inverted two-wheel type moving body 1 independently drives a right wheel 14R and a left wheel 14L by a drive motor while maintaining an inverted state by inversion control, and turns according to a speed difference between the right wheel 14R and the left wheel 14L. The inverted two-wheel type moving body 1 comprises: a posture angle sensor which measures an angle of the inverted two-wheel type moving body 1 in a pitch direction; a speed sensor which detects speeds of the right wheel 14R and the left wheel 14L; and a control part which decelerates the speed of the wheel whose detected speed is higher out of the right wheel 14R and the left wheel 14L when an absolute value of the angle which is measured by the posture angle sensor is smaller than a prescribed value θ, and a magnitude of the sum of the speed vof the right wheel 14R and the speed vof the left wheel 14L which are detected by the speed sensor is larger than v.SELECTED DRAWING: Figure 1
Inventors:
KIDA YUSUKE
BITO KOJI
BITO KOJI
Application Number:
JP2014225402A
Publication Date:
May 23, 2016
Filing Date:
November 05, 2014
Export Citation:
Assignee:
TOYOTA MOTOR CORP
International Classes:
B62K17/00; B60L15/20; B62K3/00
Attorney, Agent or Firm:
Ken Ieiri