Inverted pendulum mobile vehicle
First Claim
1. A mobile vehicle including at least one drive wheel and configured to be able to travel according to a principle of an inverted pendulum, comprising:
- a supporting frame rotatably supporting the at least one drive wheel;
a first drive actuator and a second drive actuator for actuating the at least one drive wheel so as to cause the vehicle to travel in a fore-and-aft direction and to turn the vehicle around a vertical axial line;
a body frame supported by the wheel supporting frame so as to be rotatable around a vertical axial line and carry a rider and or a cargo; and
a body coupler that couples the body frame relative to the wheel supporting frame in a prescribed dynamic positional relationship whereby turning of the body frame follows turning of the wheel supporting frame with time delay.
1 Assignment
0 Petitions
Accused Products
Abstract
Provided is an inverted pendulum mobile vehicle such as a single-passenger coaxial two-wheel vehicle which is capable of turning with a small turning radius without causing discomfort to a rider or a vehicle occupant or causing a cargo or the like on the vehicle from shifting or falling off from the vehicle. The vehicle comprises a wheel supporting frame (12), a body frame (12) supported by the wheel supporting frame so as to be rotatable around a vertical axial line and carry a rider and or a cargo and a body coupler (52, 78, 70) that couples the body frame relative to the wheel supporting frame in a prescribed dynamic positional relationship. Thereby, even when the wheel supporting frame undergoes a rapid yaw movement either while traveling in a fore-and-aft direction or remaining stationary, the body frame that carries a vehicle occupant or a cargo is allowed to follow the yaw movement of the wheel supporting frame at a slower angular speed and/or acceleration/deceleration so that the vehicle occupant is prevented from experiencing discomfort and the cargo is prevented from shifting on the body frame or falling off from the vehicle.
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Citations
9 Claims
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1. A mobile vehicle including at least one drive wheel and configured to be able to travel according to a principle of an inverted pendulum, comprising:
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a supporting frame rotatably supporting the at least one drive wheel; a first drive actuator and a second drive actuator for actuating the at least one drive wheel so as to cause the vehicle to travel in a fore-and-aft direction and to turn the vehicle around a vertical axial line; a body frame supported by the wheel supporting frame so as to be rotatable around a vertical axial line and carry a rider and or a cargo; and a body coupler that couples the body frame relative to the wheel supporting frame in a prescribed dynamic positional relationship whereby turning of the body frame follows turning of the wheel supporting frame with time delay. - View Dependent Claims (2, 3, 4, 5)
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6. A mobile vehicle including a pair of drive wheels which are coaxially disposed relative to each other so as to be rotated in an independent manner, and the vehicle being configured to be able to travel according to a principle of an inverted pendulum, comprising:
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a supporting frame rotatably supporting the drive wheels; a pair of drive actuators that are configured to actuate the corresponding drive wheels individually so as to cause the vehicle to travel in a fore-and-aft direction and to turn the vehicle around a vertical axial line; a body frame supported by the wheel supporting frame so as to be rotatable around a vertical axial line and carry a rider and or a cargo; and a body coupler that couples the body frame relative to the wheel supporting frame in a prescribed dynamic positional relationship whereby turning of the body frame follows turning of the wheel supporting frame with time delay. - View Dependent Claims (7, 8, 9)
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Specification