HAND-PROPELLED VEHICLE

摘要

A support unit is connected to a shaft of a main wheel and thus is always maintained in parallel to or at a predetermined angle to a road surface, independently of an inclination angle of a main body. Accordingly, an incline estimating unit regards an inclination angle θ3 being a value in an inclination sensor as being equal to an inclination angle θ2 of the road surface (or in a case where the support unit is inclined a predetermined angle to the road surface, an angle from θ3 to the predetermined angle is subtracted from or added to the crossing angle) and outputs the estimated inclination angle θ2 of the road surface to a target inclination angle determining unit.

主权项

1. A hand-propelled vehicle comprising:
a main body; a plurality of main wheels being rotatable and supported by the main body; a support unit coupled to a rotating shaft of each of the plurality of main wheels, the support unit being rotatable in a pitch direction; one or more auxiliary wheels coupled to the support unit; a drive unit configured to rotate the plurality of main wheels; a control unit configured to control the drive unit; a crossing-angle detecting unit configured to detect an angle between the main body and the support unit; and a road-surface inclination angle detecting unit mounted on the support unit and configured to detect an inclination angle of a road surface in the pitch direction, wherein the control unit is configured to calculate an inclination angle of the main body in the pitch direction with respect to a vertical axis on the basis of an output of the crossing-angle detecting unit and an output of the road-surface inclination angle detecting unit and to control the drive unit such that the inclination angle of the main body in the pitch direction with respect to the vertical axis is equal to a target inclination angle of the main body in the pitch direction.