INVERTED PENDULUM TYPE MOVABLE BODY

摘要

PROBLEM TO BE SOLVED: To obtain an appropriate inverted pendulum control even when an upper structure body whose gravity point is different is mounted in an inverted pendulum type movable body having the exchangeable upper structure body.

SOLUTION: The inverted pendulum type movable body 1 includes: a lower structure body 14 having a predetermined reference axis line B; an upper structure body 13 detachably mounted to the lower structure body; a running unit 3 provided in the lower structure body; a tilting sensor 7 for detecting a tilting angle of the reference axis line with respect to a vertical direction; and an inverted pendulum control unit 5 for driving and controlling the running unit so as to keep the tilting angle to be a reference angle being a control target based on the tilting angle detected by the tilting sensor. The upper structure body has a memory 284 for keeping reference angle data peculiar to the upper structure body. The inverted pendulum control unit obtains the reference angle data from the memory so as to set the reference angle according to the reference angle data.

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