MOVING BODY

摘要

A tire angular velocity controller (211) is input with a difference between a target value of a rotational angular velocity of 0 for main wheels (11) and a rotational angular velocity of the main wheels (11), which is a differential value of a signal output from a main wheels rotary encoder (26). The tire angular velocity controller (211) calculates an inclination angle for the main body (10) that will cause the difference to become zero. In a second control mode, the calculated inclination angle is used as a target inclination angle and the difference between this target inclination angle and the inclination angle of the main body (10) at the present time input from an inclination angle sensor (20) is input to a main body inclination angle controller (212).

主权项

1. A moving body comprising:
a wheel; a main body for supporting the wheel rotatably in a pitch direction; a driving control unit for controlling driving of the wheel; angular change detection means for detecting an angular change of the main body in the pitch direction; and rotational angle detection means for detecting a rotational angle of the wheel, wherein the driving control unit has
a first control mode in which rotation of the wheel is controlled on the basis of an output of the angular change detection means such that the angular change of the main body becomes zero and such that an angle of the main body with respect to a vertical direction becomes a first angle, anda second control mode in which rotation of the wheel is controlled on the basis of an output of the rotational angle detection means such that a change in the rotational angle of the wheel becomes zero, and the driving control unit includes switching means for switching between the first control mode and the second control mode.