Vehicle, vehicle control device and variable control method
First Claim
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1. A vehicle comprising:
- a body on which a user rides;
a wheel that is rotatably supported on said body;
a driver that drives said wheel;
a detector that detects a rate of change of a tilt angle of said body; and
a controller that controls said driver to move said body;
whereinsaid controller controls said driver so that said body rises from a non-horizontal position on the ground to place said body in a horizontal position spaced above the ground when said driver is powered, and said rate of change of the tilt angle of said body detected by said detector is kept in a zero state for not shorter than a predetermined period.
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Abstract
A motorized balance board includes a wheel rotation angle detecting sensor, a gyrosensor, and an acceleration sensor. An arithmetic operation unit calculates a rotation angle change value, a rotation angle value, a tilt angle change value, and a tilt angle value, based on signals output from the wheel rotation angle detecting sensor, the gyrosensor, and the acceleration sensor. When the control mode is a riding mode, a control mode switch element switches the control mode to a standby mode based on the rotation angle change value, the rotation angle value, the tilt angle change value, and the tilt angle value.
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Citations
19 Claims
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1. A vehicle comprising:
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a body on which a user rides; a wheel that is rotatably supported on said body; a driver that drives said wheel; a detector that detects a rate of change of a tilt angle of said body; and a controller that controls said driver to move said body;
whereinsaid controller controls said driver so that said body rises from a non-horizontal position on the ground to place said body in a horizontal position spaced above the ground when said driver is powered, and said rate of change of the tilt angle of said body detected by said detector is kept in a zero state for not shorter than a predetermined period. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A vehicle control device for controlling a vehicle that includes a body on which a user rides, a wheel that is rotatably supported on said body, and a driver that drives said wheel, said control device comprising:
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a detector that detects a rate of change of a tilt angle of said body; and a controller that controls said driver to move said body;
whereinsaid controller controls said driver so that said body rises from a non-horizontal position on the ground to place said body in a horizontal position spaced above the ground when said driver is powered, and said rate of change of the tilt angle of said body detected by said detector is kept in a zero state for not shorter than a predetermined period.
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19. A vehicle control method for controlling a vehicle that includes a body on which a user rides, a wheel that is rotatably supported on said body, and a driver that drives said wheel, said method comprising the steps of:
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detecting a rate of change of a tilt angle of said body; and controlling said driver so that said body rises from a non-horizontal position on the ground to place said body in a horizontal position spaced above the ground when said rate of change of the tilt angle of said body is kept in a zero state for not shorter than a predetermined period.
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Specification