Self-Stabilising, Directionally Controllable Vehicle with at Least Three Wheels

摘要

Self-balancing vehicle with at least three wheels resting on the ground, at least two of which wheels are arranged on either side of the center of gravity wit h respect to the longitudinal axis of the vehicle, and at least one of which wheels is directionally controllable. At least one section of the vehicle is tiltable about the longitudinal axis of the vehicle and a sensor for measuring the magnitude and/or the direction of the load, for the purpose of producing and/or maintaining a change in direction of the directionally controllable wheel during travel, and/or for measuring the magnitude and/or the direction of a change in direction of the directionally controllable wheel during travel, is connected to a control element for controlling the at least one directionally controllable wheel. A power-assisted tilt element is provided for tilting the vehicle section abou t the longitudinal axis of the vehicle, which tilt element is connected to the sensor, in order to produce a tilt as a function of the registration by the sensor.