MOBILE BODY

摘要

Provided is a mobile body configured to prevent a main body thereof from overturning in a case of being used in a state where an auxiliary wheel is not provided or the auxiliary wheel is not in contact with the ground. In a first control mode, by performing inverted pendulum control all the time, a posture of a main body portion (10) is maintained to be constant. For example, in the case where a user operates a changeover switch, a controller (21) shifts to a second control mode in which the rotation of main wheels (11) is driven and controlled so that an angle of the main body portion (10) with respect to the vertical direction becomes θ1′ which is greater than θ1. In the second control mode, the main wheels (11) and an auxiliary wheel (13) are in contact with the ground.

主权项

1. A mobile body comprising:
a wheel; a main body portion configured to rotatably support the wheel; a support unit having one end connected to the main body portion; a drive controller configured to drive and control the wheel; and a sensor configured to detect an angular change of a slope angle of the main body portion in a pitch direction, wherein the drive controller has a first control mode in which rotation of the wheel is controlled based on an output from the sensor so that the angular change of the main body portion becomes 0 and the angle of the main body portion with respect to a vertical direction takes a first angle, and a second control mode in which the rotation of the wheel is controlled based on the output from the sensor and the main body portion is inclined toward a side where the support unit is connected so that the angle of the main body portion with respect to the vertical direction takes a second angle greater than the first angle, the mobile body further including: a changeover means configured to switch between the first control mode and the second control mode.