INVERTED MOBILE BODY AND CONTROL METHOD THEREOF

摘要

An inverted vehicle for which inversion control is performed comprises a first sensor that detects an angular speed around an axis inclined from a pitch axis by a first predetermined angle, a second sensor that detects an angular speed around an axis inclined from the pitch axis by a second predetermined angle, a third sensor that detects an angular speed around the pitch axis, a pitch-axis acceleration detection unit that detects an acceleration along the pitch axis, a roll-axis acceleration detection unit that detects an acceleration along a roll axis, a yaw-axis acceleration detection unit that detects an acceleration along the yaw axis, and a control unit that performs the inversion control based on the detected angular speeds. A control unit puts a specific safety function in motion based on a mutual relation among a first angular speed around the pitch axis calculated based on the angular speeds detected by the first and second sensors, a second angular speed around the pitch axis detected by the third sensor, and a third angular speed around the pitch axis calculated based on the detected accelerations.