| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a unicycle which appropriately performs assist control of a wheel even in complicated road surface environment. <P>SOLUTION: When the unicycle 100 is used in a horizontal ground surface, an assist control section 21 detects a rotation direction of the wheel 4 on the basis of output of a rotary encoder 15, and drives an electric motor 11 according to the number of rotations. Assist by the electric motor 11 is performed, when the wheel 4 is both normally and reversely rotated. When it is pushed up on an uphill, the wheel 4 is assisted in a normal direction, and when it is drawn up on the uphill, the wheel 4 is assisted in a reverse direction. On the other hand, when the unicycle 100 is drawn down on a downhill, or when it is pushed down in the downhill, the assistant control section 21 performs braking control on the electric motor 11. <P>COPYRIGHT: (C)2012,JPO&INPIT |
