PROBLEM TO BE SOLVED: To change a control gain in response to a physique of an occupant and to make operability excellent.SOLUTION: An inverted movable body comprises: an operation handle installed upright on a movable body main body; inclination detection means detecting an inclination of the operation handle; driving means driving at least one drive vehicle provided to the movable body main body; control means controlling the driving means and performing inversion control for maintaining an inverted state on the basis of the inclination of the operation handle detected by the inclination detection means; and height detection means detecting a height of an operation section of the operation handle, while including: the movable body main body which an occupant boards; the operation section being held by the occupant and performing operation; and an adjustment section adjusting the height of the operation section. The control means changes a control gain determining driving torque of the driving means in response to the inclination of the operation handle on the basis of the height of the operation section of the operation handle detected by the height detection means.

    【課題】搭乗者の体格に応じて制御ゲインを変更し操作性を良好にすること。【解決手段】倒立型移動体は、搭乗者が搭乗する移動体本体と、搭乗者が保持し操作を行う操作部と、操作部の高さを調整する調整部と、を有すると共に、移動体本体に立設された操作ハンドルと、操作ハンドルの傾斜を検出する傾斜検出手段と、移動体本体に設けられた少なくとも1つの駆動車輪を駆動する駆動手段と、傾斜検出手段により検出された操作ハンドルの傾斜に基づいて、駆動手段を制御して倒立状態を維持する倒立制御を行う制御手段と、操作ハンドルの操作部の高さを検出する高さ検出手段と、を備える。制御手段は、高さ検出手段により検出された操作ハンドルの操作部の高さに基づいて、操作ハンドルの傾斜に応じた駆動手段の駆動トルクを決める制御ゲインを変更する。【選択図】図3


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    Title :

    INVERTED MOVABLE BODY


    Additional title:

    倒立型移動体


    Contributors:

    Publication date :

    2015-07-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62K Fahrräder , CYCLES



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