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Hand-propelled vehicle

  • US 10,052,253 B2
  • Filed: 06/17/2016
  • Issued: 08/21/2018
  • Est. Priority Date: 12/25/2013
  • Status: Active Grant
First Claim
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1. A hand-propelled vehicle comprising:

  • a main body;

    a plurality of main wheels being rotatable and supported by the main body;

    a support unit coupled to a rotating shaft of each of the plurality of main wheels, the support unit being rotatable in a pitch direction;

    one or more auxiliary wheels coupled to the support unit;

    a drive unit configured to rotate the plurality of main wheels;

    a control unit configured to control the drive unit;

    a crossing-angle detecting unit configured to detect an angle between the main body and the support unit; and

    a road-surface inclination angle detecting unit mounted on the support unit and configured to detect an inclination angle of a road surface in the pitch direction,wherein the control unit is configured to calculate an inclination angle of the main body in the pitch direction with respect to a vertical axis on the basis of an output of the crossing-angle detecting unit and an output of the road-surface inclination angle detecting unit and to control the drive unit such that the inclination angle of the main body in the pitch direction with respect to the vertical axis is equal to a target inclination angle of the main body in the pitch direction.

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