INVERTED PENDULUM TYPE VEHICLE

摘要

An inverted pendulum type vehicle capable of dissipating the dissociation of vehicle steering intention of a user and a vehicle motion condition. When a base tilts toward a first designated direction, gravity center shift effect amount Vofs_x is corrected by a gravity center shift correction amount Vdep_x calculated according to the tilting amount. The gravity center shift correction amount Vdep_x with respect to a second designated direction is determined so as to increase as the tilting amount toward the first designated direction of the base. Further, the gravity center shift effect amount Vdep_x determined by tilting toward the first designated direction of the base is controlled to a threshold value or less.

主权项

1. An inverted pendulum type vehicle comprising:
moving motion units configured to be capable of moving in all directions on a floor surface; actuator devices that drive the moving motion units; a base that incorporates the moving motion units and the actuator devices; an occupant riding section incorporated into the base so as to be tiltable with respect to an imaginary line that extends orthogonally with respect to the floor surface; a tilting state detection unit that detects a tilting state of the occupant riding section; and a control device configured to control a motion of the actuator devices based on a detection result of the tilting state of the occupant riding section by the tilting state detection unit, wherein the control device is configured to control the motion of the actuator devices, so that the vehicle is translated in a second designated direction that is the opposite direction of a first designated direction of the occupant riding section at a speed determined based on a tilting condition toward the first designated direction of the occupant riding section.