Inverted pendulum type vehicle

摘要

An inverted pendulum type vehicle having a tiltable rider mounting section includes a first travel operation unit and a second travel operation unit, which are disposed with an interval provided therebetween in the longitudinal direction and which are capable of traveling in all directions. In a situation wherein a predetermined representative point of the vehicle or the first travel operation unit is to be moved rightward or leftward, the traveling operations of the first travel operation unit and the second travel operation unit are controlled such that the travel velocity of the first travel operation unit and the travel velocity of the second travel operation unit in the lateral direction are different from each other so as to cause the vehicle to turn about a turn center at the rear of a ground contact point of the first travel operation unit.

主权项

1. An inverted pendulum type vehicle having at least a first travel operation unit capable of traveling on a floor surface; a first actuator that drives the first travel operation unit; a base body to which the first travel operation unit and the first actuator are installed; and a rider mounting section attached to the base body such that the rider mounting section is tiltable relative to a vertical direction, wherein the first travel operation unit is configured to be capable of traveling in all directions, including a longitudinal direction and a lateral direction relative to a rider on the rider mounting section, by a driving force of the first actuator, the inverted pendulum type vehicle comprising:
a second travel operation unit, which is connected to the first travel operation unit or the base body with an interval provided from the first travel operation unit in the longitudinal direction and which is configured to be capable of traveling in all directions on a floor surface; a second actuator which generates a driving force for causing the second travel operation unit to travel at least in the lateral direction; and a control unit, which controls the first actuator and the second actuator so as to cause the first travel operation unit and the second travel operation unit to carry out travel motions thereof according to at least the tilt of the rider mounting section, wherein the control unit is configured to carry out turning control processing for controlling, through the first actuator and the second actuator, a travel velocity of the first travel operation unit and a travel velocity of the second travel operation unit in the lateral direction to be different from each other so as to cause the inverted pendulum type vehicle to turn about a turn center behind a ground contact point of the first travel operation unit in a situation in which a predetermined representative point of the inverted pendulum type vehicle that has been established beforehand or the first travel operation unit is to be moved leftward or rightward.