Patent ID: 9463836
Filing Date: 2016-10-11
CPC Classification: A61H,B62H,B62K,G05D

Claim Text:
1. A mobile body comprising: a first wheel; a main body portion configured to rotatably support the first wheel; a support unit having one end connected to the main body portion; a drive controller configured to drive and control the first wheel; and a sensor configured to detect an angular change of a slope angle of the main body portion in a pitch direction, wherein the drive controller has a first control mode in which rotation of the first wheel is controlled based on an output from the sensor so that the angular change of the main body portion becomes 0 and the angle of the main body portion with respect to a vertical direction takes a first angle, and a second control mode in which the rotation of the first wheel is controlled based on the output from the sensor and the main body portion is inclined toward a side where the support unit is connected so that the angle of the main body portion with respect to the vertical direction takes a second angle greater than the first angle, the mobile body further including: a changeover means configured to switch between the first control mode and the second control mode, wherein an angle formed by the main body portion and the support unit in the first control mode is greater than an angle formed by the main body portion and the support unit in the second control mode.