MOVING BODY

WIPO Patent Application WO/2015/137203

A1

A moving body (1) provided with a main body part (10), principal wheels (11), a support part (12), an auxiliary wheel (13), an obstruction part that is not shown, an angle of incline sensor (20), a gyro sensor (24), a seat plate (51), a control unit (21), a principal wheel drive unit (26), a user I/F (28), a manual brake (29), and an auxiliary sensor (30). The control unit (21) has a first control mode and a second control mode that perform inverted pendulum control. In the second control mode, the control unit (21) drives the rotation of and controls the principal wheels (11) until the angle formed by the main body part (10) and the support part (12) is an angle θ2 that is smaller than an angle θ1, and then turns off inverted pendulum control. θ2 is preset by the obstruction part to be the angle at which the center of gravity of the main body part (10) comes between the rotational axis of the principal wheels (11) and the rotational axis of a second wheel.

TSUJI SHIGERU (JP)
KUBO MASAYUKI (JP)
SHIRATO KENICHI (JP)
HANE YOSHITAKA (JP)
KONDO NOBUHIRO (JP)
KOMODA ATSUTO (JP)
HAYASHI TAKANORI (JP)

PCT/JP2015/056294

September 17, 2015

March 04, 2015

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MURATA MANUFACTURING CO (JP)

A61H3/04; A61G5/04; B62B3/00; B62H1/12; B62K3/00; B62K17/00

WO2012114597A1	2012-08-30
WO1998041182A1	1998-09-24

JP2001170119A

2001-06-26

Kaede Patent Attorneys' Office (JP)
Patent business corporation Kaede Patent Attorneys' Office (JP)

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