Title:
倒立車輪型移動体、及びその制御方法
Document Type and Number:
Japanese Patent JP4867823
Kind Code:
B2
Abstract:
An inverted wheel type moving body that is capable of enhancing convenience and a method of controlling the same are provided. An inverted wheel type moving body according to one aspect of the present invention includes a right chassis 17 and a left chassis 19 rotationally supporting a right driving wheel 18 and a left driving wheel 20, motors 34 and 36 rotationally driving the right driving wheel 18 and the left driving wheel 20, a body 12 rotatably supported on the right chassis 17 and the left chassis 19 through a right arm 14 and a left arm 16, a pressure-sensitive sensor 45 provided to judge whether a transportation object dismounts, and a control unit 80 controlling the motors 34 and 36 to reduce velocity upon judgment that the transportation object dismounts based on the output from the pressure-sensitive sensor 45 when the moving body travels faster than a certain velocity, in which overturn preventing operation is executed after an absolute value of the velocity is lower than a threshold value.
Inventors:
Fuwa Toshio
Application Number:
JP2007179992A
Publication Date:
February 01, 2012
Filing Date:
July 09, 2007
Export Citation:
Assignee:
TOYOTA JIDOSHA KABUSHIKI KAISHA
International Classes:
B62K17/00; B62K3/00; G05D1/08
Domestic Patent References:
| JP2006001385A | ||||
| JP2006001384A | ||||
| JP63305082A | ||||
| JP2007168603A | ||||
| JP2000514680A |
Attorney, Agent or Firm:
Ken Ieiri