Inverted pendulum type vehicle
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United States of America Patent
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-
Sep 23, 2014
Grant Date -
Nov 14, 2013
app pub date -
Feb 26, 2013
filing date -
May 14, 2012
priority date (Note) -
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status (Latency Note)
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Abstract
An inverted pendulum type vehicle prevents a travel operation unit from running at a high velocity when not in contact with the ground. A ground contact point velocity detector integrates a ground contact point horizontal acceleration calculated by a ground contact point horizontal acceleration calculator so as to calculate the acceleration at the ground contact point of a wheel. A determiner calculates a ground contact point velocity. The determiner sets a velocity threshold value on the basis of the velocity difference between the ground contact point velocity and a first desired velocity. If the first desired velocity reaches the velocity threshold value or more, then the determiner decides that the wheel of a first travel operation unit is idling and restricts the setting of the first desired velocity by a first control processor to the velocity threshold value or less.
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